@newkrok/nape-js 3.3.43 → 3.3.45

package/dist/index.d.cts

@@ -7,7 +7,7 @@
  *
  * Converted from nape-compiled.js lines 32346–32733.
  */
-type Any$11 = any;
+type Any$17 = any;
 declare class ZPP_IContact {
     static __name__: string[];
     length: number;
@@ -29,7 +29,7 @@ declare class ZPP_IContact {
     lr1y: number;
     lr2x: number;
     lr2y: number;
-    __class__: Any$11;
+    __class__: Any$17;
     elem(): this;
     begin(): ZPP_IContact | null;
     setbegin(i: ZPP_IContact | null): void;
@@ -73,19 +73,19 @@ declare class ZPP_IContact {
  * Converted from nape-compiled.js lines 31853–32345, 81644–81645.
  */
 
-type Any$10 = any;
+type Any$16 = any;
 declare class ZPP_Contact {
     static __name__: string[];
-    static _nape: Any$10;
-    static _zpp: Any$10;
+    static _nape: Any$16;
+    static _zpp: Any$16;
     static zpp_pool: ZPP_Contact | null;
     static internal: boolean;
-    static _wrapFn: ((zpp: ZPP_Contact) => Any$10) | null;
-    outer: Any$10;
+    static _wrapFn: ((zpp: ZPP_Contact) => Any$16) | null;
+    outer: Any$16;
     px: number;
     py: number;
-    wrap_position: Any$10;
-    arbiter: Any$10;
+    wrap_position: Any$16;
+    arbiter: Any$16;
     inner: ZPP_IContact;
     active: boolean;
     posOnly: boolean;
@@ -99,9 +99,9 @@ declare class ZPP_Contact {
     modified: boolean;
     _inuse: boolean;
     next: ZPP_Contact | null;
-    __class__: Any$10;
+    __class__: Any$16;
     constructor();
-    wrapper(): Any$10;
+    wrapper(): Any$16;
     position_validate(): void;
     getposition(): void;
     inactiveme(): boolean;
@@ -166,13 +166,13 @@ declare function getNape(): any;
  *
  * Converted from nape-compiled.js lines 83820–84273, 134996.
  */
-type Any$$ = any;
+type Any$15 = any;
 declare class ZPP_Vec2 {
     static zpp_pool: ZPP_Vec2 | null;
     static __name__: string[];
-    static _nape: Any$$;
-    static _zpp: Any$$;
-    static _wrapFn: ((zpp: ZPP_Vec2) => Any$$) | null;
+    static _nape: Any$15;
+    static _zpp: Any$15;
+    static _wrapFn: ((zpp: ZPP_Vec2) => Any$15) | null;
     x: number;
     y: number;
     next: ZPP_Vec2 | null;
@@ -181,18 +181,18 @@ declare class ZPP_Vec2 {
     pushmod: boolean;
     _inuse: boolean;
     weak: boolean;
-    outer: Any$$;
+    outer: Any$15;
     _immutable: boolean;
     _isimmutable: (() => void) | null;
     _validate: (() => void) | null;
     _invalidate: ((self: ZPP_Vec2) => void) | null;
-    __class__: Any$$;
+    __class__: Any$15;
     /** Static factory with optional pooling and immutability. */
     static get(x: number, y: number, immutable?: boolean): ZPP_Vec2;
     validate(): void;
     invalidate(): void;
     immutable(): void;
-    wrapper(): Any$$;
+    wrapper(): Any$15;
     free(): void;
     alloc(): void;
     elem(): ZPP_Vec2;
@@ -344,20 +344,20 @@ type NapeInner = any;
  *
  * Converted from nape-compiled.js lines 83412–83434.
  */
-type Any$_ = any;
+type Any$14 = any;
 declare class ZPP_Vec3 {
     static __name__: string[];
-    static _zpp: Any$_;
-    static _wrapFn: ((zpp: ZPP_Vec3) => Any$_) | null;
-    outer: Any$_;
+    static _zpp: Any$14;
+    static _wrapFn: ((zpp: ZPP_Vec3) => Any$14) | null;
+    outer: Any$14;
     x: number;
     y: number;
     z: number;
     immutable: boolean;
     _validate: (() => void) | null;
-    __class__: Any$_;
+    __class__: Any$14;
     validate(): void;
-    wrapper(): Any$_;
+    wrapper(): Any$14;
 }
 
 /**
@@ -421,13 +421,13 @@ declare class Vec3 {
  *
  * Converted from nape-compiled.js lines 73495–73561, 133826.
  */
-type Any$Z = any;
+type Any$13 = any;
 declare class ZPP_Mat23 {
     static __name__: string[];
-    static _nape: Any$Z;
-    static _wrapFn: ((zpp: ZPP_Mat23) => Any$Z) | null;
+    static _nape: Any$13;
+    static _wrapFn: ((zpp: ZPP_Mat23) => Any$13) | null;
     static zpp_pool: ZPP_Mat23 | null;
-    outer: Any$Z;
+    outer: Any$13;
     a: number;
     b: number;
     c: number;
@@ -436,13 +436,13 @@ declare class ZPP_Mat23 {
     ty: number;
     _invalidate: (() => void) | null;
     next: ZPP_Mat23 | null;
-    __class__: Any$Z;
+    __class__: Any$13;
     /** Static factory with pooling. */
     static get(): ZPP_Mat23;
     /** Create an identity matrix from pool. */
     static identity(): ZPP_Mat23;
     /** Create a public wrapper, recycling any existing inner. */
-    wrapper(): Any$Z;
+    wrapper(): Any$13;
     invalidate(): void;
     set(m: ZPP_Mat23): void;
     setas(a: number, b: number, c: number, d: number, tx: number, ty: number): void;
@@ -503,13 +503,13 @@ declare class Mat23 {
  *
  * Converted from nape-compiled.js lines 69554–69563.
  */
-type Any$Y = any;
+type Any$12 = any;
 declare class ZPP_GeomPoly {
     static __name__: string[];
-    outer: Any$Y;
-    vertices: Any$Y;
-    __class__: Any$Y;
-    constructor(outer?: Any$Y);
+    outer: Any$12;
+    vertices: Any$12;
+    __class__: Any$12;
+    constructor(outer?: Any$12);
 }
 
 /**
@@ -533,7 +533,7 @@ declare class Winding {
     toString(): string;
 }
 
-type Any$X = any;
+type Any$11 = any;
 /**
  * A polygon represented as a circular doubly-linked list of vertices.
  *
@@ -548,8 +548,8 @@ declare class GeomPoly {
     zpp_inner: ZPP_GeomPoly;
     zpp_pool: GeomPoly | null;
     zpp_disp: boolean;
-    get _inner(): Any$X;
-    constructor(vertices?: Any$X);
+    get _inner(): Any$11;
+    constructor(vertices?: Any$11);
     private _checkDisposed;
     /** @internal Get compiled ZPP_GeomVert class */
     private static _gvClass;
@@ -575,12 +575,12 @@ declare class GeomPoly {
     private static _addVertices;
     /** @internal After copying, dispose weak Vec2 inputs */
     private static _disposeWeakInputs;
-    static get(vertices?: Any$X): GeomPoly;
+    static get(vertices?: Any$11): GeomPoly;
     empty(): boolean;
     size(): number;
-    iterator(): Any$X;
-    forwardIterator(): Any$X;
-    backwardsIterator(): Any$X;
+    iterator(): Any$11;
+    forwardIterator(): Any$11;
+    backwardsIterator(): Any$11;
     current(): Vec2;
     push(vertex: Vec2): this;
     pop(): this;
@@ -593,7 +593,7 @@ declare class GeomPoly {
     copy(): GeomPoly;
     dispose(): void;
     area(): number;
-    winding(): Any$X;
+    winding(): Any$11;
     contains(point: Vec2): boolean;
     isClockwise(): boolean;
     isConvex(): boolean;
@@ -601,14 +601,14 @@ declare class GeomPoly {
     isMonotone(): boolean;
     isDegenerate(): boolean;
     simplify(epsilon: number): GeomPoly;
-    simpleDecomposition(output?: Any$X): Any$X;
-    monotoneDecomposition(output?: Any$X): Any$X;
-    convexDecomposition(delaunay?: boolean, output?: Any$X): Any$X;
-    triangularDecomposition(delaunay?: boolean, output?: Any$X): Any$X;
+    simpleDecomposition(output?: Any$11): Any$11;
+    monotoneDecomposition(output?: Any$11): Any$11;
+    convexDecomposition(delaunay?: boolean, output?: Any$11): Any$11;
+    triangularDecomposition(delaunay?: boolean, output?: Any$11): Any$11;
     inflate(inflation: number): GeomPoly;
-    cut(start: Vec2, end: Vec2, boundedStart?: boolean, boundedEnd?: boolean, output?: Any$X): Any$X;
-    transform(matrix: Any$X): this;
-    bounds(): Any$X;
+    cut(start: Vec2, end: Vec2, boundedStart?: boolean, boundedEnd?: boolean, output?: Any$11): Any$11;
+    transform(matrix: Any$11): this;
+    bounds(): Any$11;
     top(): Vec2;
     bottom(): Vec2;
     left(): Vec2;
@@ -624,30 +624,30 @@ declare class GeomPoly {
  *
  * Converted from nape-compiled.js lines 63546–63965, 134951.
  */
-type Any$W = any;
+type Any$10 = any;
 declare class ZPP_AABB {
     static zpp_pool: ZPP_AABB | null;
     static __name__: string[];
-    static _nape: Any$W;
-    static _zpp: Any$W;
-    static _wrapFn: ((zpp: ZPP_AABB) => Any$W) | null;
+    static _nape: Any$10;
+    static _zpp: Any$10;
+    static _wrapFn: ((zpp: ZPP_AABB) => Any$10) | null;
     _invalidate: ((self: ZPP_AABB) => void) | null;
     _validate: (() => void) | null;
     _immutable: boolean;
-    outer: Any$W;
+    outer: Any$10;
     next: ZPP_AABB | null;
     minx: number;
     miny: number;
     maxx: number;
     maxy: number;
-    wrap_min: Any$W;
-    wrap_max: Any$W;
-    __class__: Any$W;
+    wrap_min: Any$10;
+    wrap_max: Any$10;
+    __class__: Any$10;
     /** Static factory with pooling. */
     static get(minx: number, miny: number, maxx: number, maxy: number): ZPP_AABB;
     validate(): void;
     invalidate(): void;
-    wrapper(): Any$W;
+    wrapper(): Any$10;
     alloc(): void;
     free(): void;
     copy(): ZPP_AABB;
@@ -658,10 +658,10 @@ declare class ZPP_AABB {
     private static _makeVec2Wrapper;
     getmin(): void;
     dom_min(): void;
-    mod_min(min: Any$W): void;
+    mod_min(min: Any$10): void;
     getmax(): void;
     dom_max(): void;
-    mod_max(max: Any$W): void;
+    mod_max(max: Any$10): void;
     intersectX(x: ZPP_AABB): boolean;
     intersectY(x: ZPP_AABB): boolean;
     intersect(x: ZPP_AABB): boolean;
@@ -725,18 +725,18 @@ declare class AABB {
  *
  * Converted from nape-compiled.js lines 72949–72972.
  */
-type Any$V = any;
+type Any$$ = any;
 declare class ZPP_MatMN {
     static __name__: string[];
-    outer: Any$V;
+    outer: Any$$;
     m: number;
     n: number;
     x: number[];
-    __class__: Any$V;
+    __class__: Any$$;
     constructor(m: number, n: number);
 }
 
-type Any$U = any;
+type Any$_ = any;
 /**
  * Variable-sized M×N matrix.
  *
@@ -747,7 +747,7 @@ declare class MatMN {
     zpp_inner: ZPP_MatMN;
     get _inner(): NapeInner;
     constructor(rows: number, cols: number);
-    static _wrap(inner: Any$U): MatMN;
+    static _wrap(inner: Any$_): MatMN;
     get rows(): number;
     get cols(): number;
     x(row: number, col: number): number;
@@ -757,7 +757,7 @@ declare class MatMN {
     mul(matrix: MatMN): MatMN;
 }
 
-type Any$T = any;
+type Any$Z = any;
 /**
  * Isosurface extraction using the marching squares algorithm.
  *
@@ -780,21 +780,71 @@ declare class MarchingSquares {
      * @param output - Optional GeomPolyList to populate. If null, a new one is created.
      * @returns The populated GeomPolyList.
      */
-    static run(iso: (x: number, y: number) => number, bounds: AABB, cellsize: Vec2, quality?: number, subgrid?: Vec2 | null, combine?: boolean, output?: Any$T): Any$T;
+    static run(iso: (x: number, y: number) => number, bounds: AABB, cellsize: Vec2, quality?: number, subgrid?: Vec2 | null, combine?: boolean, output?: Any$Z): Any$Z;
 }
 
+/**
+ * ZPP_Ray — Internal ray representation for the nape physics engine.
+ *
+ * Manages ray origin/direction with invalidation callbacks, plus ray-shape
+ * intersection methods (AABB, circle, polygon).
+ *
+ * Converted from nape-compiled.js lines 31239–33172, 65896.
+ */
+
+type Any$Y = any;
+declare class ZPP_Ray {
+    static __name__: string[];
+    static internal: boolean;
+    zip_dir: boolean;
+    absnormaly: number;
+    absnormalx: number;
+    normaly: number;
+    normalx: number;
+    idiry: number;
+    idirx: number;
+    diry: number;
+    dirx: number;
+    originy: number;
+    originx: number;
+    userData: Any$Y;
+    maxdist: number;
+    direction: Any$Y;
+    origin: Any$Y;
+    __class__: Any$Y;
+    constructor();
+    origin_invalidate(x: Any$Y): void;
+    direction_invalidate(x: Any$Y): void;
+    invalidate_dir(): void;
+    validate_dir(): void;
+    rayAABB(): ZPP_AABB;
+    aabbtest(a: Any$Y): boolean;
+    aabbsect(a: Any$Y): number;
+    private static _allocVec2;
+    private static _validateWorldCOM;
+    private _circleNormal;
+    private static _insertSorted;
+    circlesect(c: Any$Y, inner: boolean, mint: number): Any$Y;
+    circlesect2(c: Any$Y, inner: boolean, list: Any$Y): void;
+    polysect(p: Any$Y, inner: boolean, mint: number): Any$Y;
+    polysect2(p: Any$Y, inner: boolean, list: Any$Y): void;
+}
+
+type Any$X = any;
 /**
  * A ray for raycasting queries.
  *
- * Thin wrapper around the compiled Ray implementation.
- * Full modernization (replacing compiled code) is pending ZPP_Ray extraction.
+ * Fully modernized — uses ZPP_Ray directly (extracted to TypeScript).
  */
 declare class Ray {
-    /** @internal */
-    readonly _inner: NapeInner;
+    static __name__: string[];
+    /** Direct access to the extracted internal ZPP_Ray. */
+    zpp_inner: ZPP_Ray;
+    /** Backward-compat alias for compiled code. */
+    get _inner(): this;
     constructor(origin: Vec2, direction: Vec2);
     /** @internal */
-    static _wrap(inner: NapeInner): Ray;
+    static _wrap(inner: Any$X): Ray;
     static fromSegment(start: Vec2, end: Vec2): Ray;
     get origin(): Vec2;
     set origin(value: Vec2);
@@ -806,6 +856,13 @@ declare class Ray {
     aabb(): AABB;
     at(distance: number, weak?: boolean): Vec2;
     copy(): Ray;
+    /** @internal */ get_origin(): Vec2;
+    /** @internal */ set_origin(v: Vec2): Vec2;
+    /** @internal */ get_direction(): Vec2;
+    /** @internal */ set_direction(v: Vec2): Vec2;
+    /** @internal */ get_maxDistance(): number;
+    /** @internal */ set_maxDistance(v: number): number;
+    /** @internal */ get_userData(): Any$X;
 }
 
 /**
@@ -816,31 +873,31 @@ declare class Ray {
  *
  * Converted from nape-compiled.js lines 38897–39076, 86860–86862.
  */
-type Any$S = any;
+type Any$W = any;
 declare class ZPP_ConvexRayResult {
     static __name__: string[];
     static rayPool: ZPP_ConvexRayResult | null;
     static convexPool: ZPP_ConvexRayResult | null;
     static internal: boolean;
-    static _createRayResult: (() => Any$S) | null;
-    static _createConvexResult: (() => Any$S) | null;
-    normal: Any$S;
-    shape: Any$S;
-    convex: Any$S;
-    position: Any$S;
-    ray: Any$S;
+    static _createRayResult: (() => Any$W) | null;
+    static _createConvexResult: (() => Any$W) | null;
+    normal: Any$W;
+    shape: Any$W;
+    convex: Any$W;
+    position: Any$W;
+    ray: Any$W;
     inner: boolean;
     next: ZPP_ConvexRayResult | null;
     toiDistance: number;
-    __class__: Any$S;
-    static getRay(normal: Any$S, time: number, inner: boolean, shape: Any$S): Any$S;
-    static getConvex(normal: Any$S, position: Any$S, toiDistance: number, shape: Any$S): Any$S;
+    __class__: Any$W;
+    static getRay(normal: Any$W, time: number, inner: boolean, shape: Any$W): Any$W;
+    static getConvex(normal: Any$W, position: Any$W, toiDistance: number, shape: Any$W): Any$W;
     disposed(): void;
     free(): void;
     private static _disposeVec2;
 }
 
-type Any$R = any;
+type Any$V = any;
 /**
  * Result from a convex-cast query.
  *
@@ -855,18 +912,18 @@ declare class ConvexResult {
     get _inner(): NapeInner;
     constructor();
     /** @internal */
-    static _wrap(inner: Any$R): ConvexResult;
+    static _wrap(inner: Any$V): ConvexResult;
     get normal(): Vec2;
     get position(): Vec2;
     get toi(): number;
-    get shape(): Any$R;
+    get shape(): Any$V;
     dispose(): void;
     toString(): string;
     /** @internal */
     private _disposed;
 }
 
-type Any$Q = any;
+type Any$U = any;
 /**
  * Result from a raycast query.
  *
@@ -881,68 +938,17 @@ declare class RayResult {
     get _inner(): NapeInner;
     constructor();
     /** @internal */
-    static _wrap(inner: Any$Q): RayResult;
+    static _wrap(inner: Any$U): RayResult;
     get normal(): Vec2;
     get distance(): number;
     get inner(): boolean;
-    get shape(): Any$Q;
+    get shape(): Any$U;
     dispose(): void;
     toString(): string;
     /** @internal */
     private _disposed;
 }
 
-type Any$P = any;
-/**
- * Static utility class for geometric queries between shapes and bodies.
- *
- * All methods are static. This class cannot be instantiated.
- *
- * Thin wrapper — delegates to compiled nape.geom.Geom methods.
- */
-declare class Geom {
-    static __name__: string[];
-    /**
-     * Calculate minimum distance between two bodies and return closest points.
-     * @param body1 - First body (must have shapes).
-     * @param body2 - Second body (must have shapes).
-     * @param out1 - Output Vec2 for closest point on body1.
-     * @param out2 - Output Vec2 for closest point on body2.
-     * @returns The distance between the two bodies.
-     */
-    static distanceBody(body1: Any$P, body2: Any$P, out1: Vec2, out2: Vec2): number;
-    /**
-     * Calculate minimum distance between two shapes and return closest points.
-     * @param shape1 - First shape (must be part of a body).
-     * @param shape2 - Second shape (must be part of a body).
-     * @param out1 - Output Vec2 for closest point on shape1.
-     * @param out2 - Output Vec2 for closest point on shape2.
-     * @returns The distance between the two shapes.
-     */
-    static distance(shape1: Any$P, shape2: Any$P, out1: Vec2, out2: Vec2): number;
-    /**
-     * Test if two bodies intersect (any of their shapes overlap).
-     * @param body1 - First body (must have shapes).
-     * @param body2 - Second body (must have shapes).
-     * @returns True if the bodies intersect.
-     */
-    static intersectsBody(body1: Any$P, body2: Any$P): boolean;
-    /**
-     * Test if two shapes intersect.
-     * @param shape1 - First shape (must be part of a body).
-     * @param shape2 - Second shape (must be part of a body).
-     * @returns True if the shapes intersect.
-     */
-    static intersects(shape1: Any$P, shape2: Any$P): boolean;
-    /**
-     * Test if shape1 fully contains shape2.
-     * @param shape1 - Containing shape (must be part of a body).
-     * @param shape2 - Contained shape (must be part of a body).
-     * @returns True if shape1 contains shape2.
-     */
-    static contains(shape1: Any$P, shape2: Any$P): boolean;
-}
-
 /**
  * Generic typed wrapper around Haxe list objects (BodyList, ShapeList, etc.).
  *
@@ -997,186 +1003,170 @@ declare class NapeList<T> implements Iterable<T> {
 }
 
 /**
- * ZPP_Material — Internal material representation for the nape physics engine.
+ * ZPP_Constraint — Internal base class for all constraints / joints.
  *
- * Stores physical material properties (friction, elasticity, density) and
- * manages the list of shapes that reference this material for invalidation.
+ * Manages activation/deactivation, callback types, space integration,
+ * and provides stubs for solver methods overridden by joint subclasses.
  *
- * Converted from nape-compiled.js lines 87523–87601, 135477–135481.
+ * Converted from nape-compiled.js lines 21424–21827.
  */
-type Any$O = any;
-declare class ZPP_Material {
-    static zpp_pool: ZPP_Material | null;
-    static WAKE: number;
-    static PROPS: number;
-    static ANGDRAG: number;
-    static ARBITERS: number;
+type Any$T = any;
+declare class ZPP_Constraint {
     static __name__: string[];
     /**
      * Namespace references, set by the compiled module after import.
-     * _nape  = the `nape` public namespace (for wrapper creation)
-     * _zpp   = the `zpp_nape` internal namespace (for ZNPList_ZPP_Shape)
+     * _nape = the `nape` public namespace (for CbTypeIterator in copyto)
+     * _zpp = the `zpp_nape` internal namespace (for ZNPList_*, ZPP_CbSet, etc.)
      */
-    static _nape: Any$O;
-    static _zpp: Any$O;
+    static _nape: Any$T;
+    static _zpp: Any$T;
+    outer: Any$T;
+    id: number;
+    userData: Any$T;
+    compound: Any$T;
+    space: Any$T;
+    active: boolean;
+    stiff: boolean;
+    frequency: number;
+    damping: number;
+    maxForce: number;
+    maxError: number;
+    breakUnderForce: boolean;
+    breakUnderError: boolean;
+    removeOnBreak: boolean;
+    component: Any$T;
+    ignore: boolean;
+    __velocity: boolean;
+    cbTypes: Any$T;
+    cbSet: Any$T;
+    wrap_cbTypes: Any$T;
+    pre_dt: number;
+    __class__: Any$T;
+    constructor();
     /**
-     * Wrapper factory callback, registered by the modernized Material class.
-     * When set, wrapper() uses this instead of creating a compiled Material.
+     * Initialise base constraint fields.
+     * Extracted into a separate method because compiled joint subclasses
+     * call `ZPP_Constraint.call(this)` — ES classes can't be invoked that
+     * way, so the compiled wrapper delegates to this method instead.
      */
-    static _wrapFn: ((zpp: ZPP_Material) => Any$O) | null;
-    elasticity: number;
-    dynamicFriction: number;
-    staticFriction: number;
-    density: number;
-    rollingFriction: number;
-    shapes: Any$O;
-    wrap_shapes: Any$O;
-    outer: Any$O;
-    userData: Any$O;
-    next: ZPP_Material | null;
-    __class__: Any$O;
-    constructor();
-    /** Create/return the public nape.phys.Material wrapper for this internal object. */
-    wrapper(): Any$O;
-    /** Called when this object is returned to the pool. */
-    free(): void;
-    /** Called when this object is taken from the pool. */
-    alloc(): void;
-    /** Initialize the shapes list (called during feature construction). */
-    feature_cons(): void;
-    /** Register a shape that uses this material. */
-    addShape(shape: Any$O): void;
-    /** Unregister a shape that no longer uses this material. */
-    remShape(shape: Any$O): void;
-    /** Create a copy with the same property values. */
-    copy(): ZPP_Material;
-    /** Copy all property values from another ZPP_Material. */
-    set(x: ZPP_Material): void;
-    /** Notify all shapes using this material that properties changed. */
-    invalidate(x: number): void;
+    _initBase(): void;
+    clear(): void;
+    activeBodies(): void;
+    inactiveBodies(): void;
+    clearcache(): void;
+    validate(): void;
+    wake_connected(): void;
+    forest(): void;
+    broken(): void;
+    warmStart(): void;
+    draw(_g: Any$T): void;
+    pair_exists(_id: Any$T, _di: Any$T): boolean;
+    preStep(_dt: number): boolean;
+    applyImpulseVel(): boolean;
+    applyImpulsePos(): boolean;
+    copy(_dict?: Any$T, _todo?: Any$T): Any$T;
+    immutable_midstep(name: string): void;
+    setupcbTypes(): void;
+    immutable_cbTypes(): void;
+    wrap_cbTypes_subber(pcb: Any$T): void;
+    wrap_cbTypes_adder(cb: Any$T): boolean;
+    insert_cbtype(cb: Any$T): void;
+    alloc_cbSet(): void;
+    dealloc_cbSet(): void;
+    activate(): void;
+    deactivate(): void;
+    addedToSpace(): void;
+    removedFromSpace(): void;
+    activeInSpace(): void;
+    inactiveOrOutSpace(): void;
+    wake(): void;
+    copyto(ret: Any$T): void;
+    static _findRoot(comp: Any$T): Any$T;
+    static _unionComponents(a: Any$T, b: Any$T): void;
 }
 
+type Any$S = any;
 /**
- * Physical material properties applied to shapes.
- *
- * Controls elasticity (bounciness), friction coefficients, density, and
- * rolling friction.  Internally wraps a ZPP_Material and is registered as
- * the public `nape.phys.Material` class in the compiled namespace.
+ * Base class for all constraints / joints.
  *
- * Converted from nape-compiled.js lines 38254–38573.
+ * Fully modernized — uses ZPP_Constraint directly (extracted to TypeScript).
+ * Not instantiated directly; only via joint subclasses.
  */
-declare class Material {
+declare class Constraint {
     static __name__: string[];
-    /** @internal The internal ZPP_Material this wrapper owns. */
-    zpp_inner: ZPP_Material;
+    /** Direct access to the extracted internal ZPP_Constraint. */
+    zpp_inner: ZPP_Constraint;
     /**
-     * Backward-compatible accessor — returns `this` so that compiled engine
-     * code that receives `material._inner` can still access `zpp_inner`.
+     * Compiled joint reference for joint-specific methods (body1/body2/anchors etc.).
+     * Joint subclasses set this to the compiled joint instance until those joints
+     * are fully modernized. Also serves as backward compat for compiled code.
      * @internal
      */
-    get _inner(): NapeInner;
-    constructor(elasticity?: number, dynamicFriction?: number, staticFriction?: number, density?: number, rollingFriction?: number);
-    /** @internal Wrap a ZPP_Material (or legacy compiled Material) with caching. */
-    static _wrap(inner: any): Material;
-    get elasticity(): number;
-    set elasticity(value: number);
-    get dynamicFriction(): number;
-    set dynamicFriction(value: number);
-    get staticFriction(): number;
-    set staticFriction(value: number);
-    get density(): number;
-    set density(value: number);
-    get rollingFriction(): number;
-    set rollingFriction(value: number);
+    _inner: Any$S;
+    debugDraw: boolean;
+    /** @internal */
+    protected constructor();
+    /** @internal */
+    static _wrap(inner: Any$S): Constraint;
+    get space(): Space | null;
+    set space(value: Space | null);
+    get compound(): Any$S;
+    set compound(value: Any$S);
+    get active(): boolean;
+    set active(value: boolean);
+    get ignore(): boolean;
+    set ignore(value: boolean);
+    get stiff(): boolean;
+    set stiff(value: boolean);
+    get frequency(): number;
+    set frequency(value: number);
+    get damping(): number;
+    set damping(value: number);
+    get maxForce(): number;
+    set maxForce(value: number);
+    get maxError(): number;
+    set maxError(value: number);
+    get breakUnderForce(): boolean;
+    set breakUnderForce(value: boolean);
+    get breakUnderError(): boolean;
+    set breakUnderError(value: boolean);
+    get removeOnBreak(): boolean;
+    set removeOnBreak(value: boolean);
+    get isSleeping(): boolean;
     get userData(): Record<string, unknown>;
-    copy(): Material;
-    toString(): string;
-    static wood(): Material;
-    static steel(): Material;
-    static ice(): Material;
-    static rubber(): Material;
-    static glass(): Material;
-    static sand(): Material;
-}
-
-/**
- * ZPP_FluidProperties — Internal fluid properties for the nape physics engine.
- *
- * Stores density, viscosity, and per-fluid gravity override.
- * Manages the list of shapes that reference these properties for invalidation.
- *
- * Converted from nape-compiled.js lines 87335–87523, 135403.
- */
-type Any$N = any;
-declare class ZPP_FluidProperties {
-    static zpp_pool: ZPP_FluidProperties | null;
-    static __name__: string[];
-    static _nape: Any$N;
-    static _zpp: Any$N;
-    static _wrapFn: ((zpp: ZPP_FluidProperties) => Any$N) | null;
-    viscosity: number;
-    density: number;
-    gravityx: number;
-    gravityy: number;
-    wrap_gravity: Any$N;
-    shapes: Any$N;
-    wrap_shapes: Any$N;
-    outer: Any$N;
-    userData: Any$N;
-    next: ZPP_FluidProperties | null;
-    __class__: Any$N;
-    constructor();
-    /** Create/return the public nape.phys.FluidProperties wrapper. */
-    wrapper(): Any$N;
-    free(): void;
-    alloc(): void;
-    feature_cons(): void;
-    addShape(shape: Any$N): void;
-    remShape(shape: Any$N): void;
-    /** Copy with object pooling. */
-    copy(): ZPP_FluidProperties;
-    /** Called when gravity Vec2 wrapper is invalidated (user set new gravity). */
-    gravity_invalidate(x: Any$N): void;
-    /** Sync the gravity Vec2 wrapper with internal values. */
-    gravity_validate(): void;
-    /** Lazily create and return the gravity Vec2 wrapper. */
-    getgravity(): void;
-    /** Notify all shapes that fluid properties changed. */
-    invalidate(): void;
-}
-
-/**
- * Fluid properties for shapes that act as fluid regions.
- *
- * Controls density, viscosity, and per-fluid gravity override.
- * Internally wraps a ZPP_FluidProperties and is registered as
- * the public `nape.phys.FluidProperties` class in the compiled namespace.
- *
- * Converted from nape-compiled.js lines 37002–37511.
- */
-declare class FluidProperties {
-    static __name__: string[];
-    /** @internal The internal ZPP_FluidProperties this wrapper owns. */
-    zpp_inner: ZPP_FluidProperties;
-    /**
-     * Backward-compatible accessor — returns `this` so that compiled engine
-     * code that receives `fluidProps._inner` can still access `zpp_inner`.
-     * @internal
-     */
-    get _inner(): NapeInner;
-    constructor(density?: number, viscosity?: number);
-    /** @internal Wrap a ZPP_FluidProperties (or legacy compiled FluidProperties) with caching. */
-    static _wrap(inner: any): FluidProperties;
-    get density(): number;
-    set density(value: number);
-    get viscosity(): number;
-    set viscosity(value: number);
-    get gravity(): any;
-    set gravity(gravity: any);
-    get userData(): Record<string, unknown>;
-    get shapes(): any;
-    copy(): FluidProperties;
+    get cbTypes(): Any$S;
+    impulse(): Any$S;
+    bodyImpulse(_body: Body): Any$S;
+    visitBodies(_fn: (body: Body) => void): void;
+    copy(): Constraint;
     toString(): string;
+    /** @internal */ get_userData(): Any$S;
+    /** @internal */ get_compound(): Any$S;
+    /** @internal */ set_compound(v: Any$S): Any$S;
+    /** @internal */ get_space(): Any$S;
+    /** @internal */ set_space(v: Any$S): Any$S;
+    /** @internal */ get_isSleeping(): boolean;
+    /** @internal */ get_active(): boolean;
+    /** @internal */ set_active(v: boolean): boolean;
+    /** @internal */ get_ignore(): boolean;
+    /** @internal */ set_ignore(v: boolean): boolean;
+    /** @internal */ get_stiff(): boolean;
+    /** @internal */ set_stiff(v: boolean): boolean;
+    /** @internal */ get_frequency(): number;
+    /** @internal */ set_frequency(v: number): number;
+    /** @internal */ get_damping(): number;
+    /** @internal */ set_damping(v: number): number;
+    /** @internal */ get_maxForce(): number;
+    /** @internal */ set_maxForce(v: number): number;
+    /** @internal */ get_maxError(): number;
+    /** @internal */ set_maxError(v: number): number;
+    /** @internal */ get_breakUnderForce(): boolean;
+    /** @internal */ set_breakUnderForce(v: boolean): boolean;
+    /** @internal */ get_breakUnderError(): boolean;
+    /** @internal */ set_breakUnderError(v: boolean): boolean;
+    /** @internal */ get_removeOnBreak(): boolean;
+    /** @internal */ set_removeOnBreak(v: boolean): boolean;
+    /** @internal */ get_cbTypes(): Any$S;
 }
 
 /**
@@ -1187,33 +1177,33 @@ declare class FluidProperties {
  *
  * Converted from nape-compiled.js lines 63255–63366, 135329.
  */
-type Any$M = any;
+type Any$R = any;
 declare class ZPP_InteractionFilter {
     static zpp_pool: ZPP_InteractionFilter | null;
     static __name__: string[];
-    static _nape: Any$M;
-    static _zpp: Any$M;
-    static _wrapFn: ((zpp: ZPP_InteractionFilter) => Any$M) | null;
+    static _nape: Any$R;
+    static _zpp: Any$R;
+    static _wrapFn: ((zpp: ZPP_InteractionFilter) => Any$R) | null;
     collisionGroup: number;
     collisionMask: number;
     sensorGroup: number;
     sensorMask: number;
     fluidGroup: number;
     fluidMask: number;
-    shapes: Any$M;
-    wrap_shapes: Any$M;
-    outer: Any$M;
-    userData: Any$M;
+    shapes: Any$R;
+    wrap_shapes: Any$R;
+    outer: Any$R;
+    userData: Any$R;
     next: ZPP_InteractionFilter | null;
-    __class__: Any$M;
+    __class__: Any$R;
     constructor();
     /** Create/return the public nape.dynamics.InteractionFilter wrapper. */
-    wrapper(): Any$M;
+    wrapper(): Any$R;
     free(): void;
     alloc(): void;
     feature_cons(): void;
-    addShape(shape: Any$M): void;
-    remShape(shape: Any$M): void;
+    addShape(shape: Any$R): void;
+    remShape(shape: Any$R): void;
     /** Create a copy with object pooling. */
     copy(): ZPP_InteractionFilter;
     /** Test whether two filters allow collision between their shapes. */
@@ -1269,6 +1259,298 @@ declare class InteractionFilter {
     toString(): string;
 }
 
+/**
+ * ZPP_Callback — Internal callback data holder for the nape physics engine.
+ *
+ * Stores callback event information (listener, event type, interactors, etc.)
+ * and forms a doubly-linked list for callback queue management.
+ *
+ * Converted from nape-compiled.js lines 44587–44794, 133299–133300.
+ */
+type Any$Q = any;
+declare class ZPP_Callback {
+    static __name__: string[];
+    static _nape: Any$Q;
+    static _zpp: Any$Q;
+    static internal: boolean;
+    static zpp_pool: ZPP_Callback | null;
+    outer_body: Any$Q;
+    outer_con: Any$Q;
+    outer_int: Any$Q;
+    event: number;
+    listener: Any$Q;
+    space: Any$Q;
+    index: number;
+    next: ZPP_Callback | null;
+    prev: ZPP_Callback | null;
+    length: number;
+    int1: Any$Q;
+    int2: Any$Q;
+    set: Any$Q;
+    wrap_arbiters: Any$Q;
+    pre_arbiter: Any$Q;
+    pre_swapped: boolean;
+    body: Any$Q;
+    constraint: Any$Q;
+    __class__: Any$Q;
+    wrapper_body(): Any$Q;
+    wrapper_con(): Any$Q;
+    wrapper_int(): Any$Q;
+    push(obj: ZPP_Callback): void;
+    push_rev(obj: ZPP_Callback): void;
+    pop(): ZPP_Callback;
+    pop_rev(): ZPP_Callback;
+    empty(): boolean;
+    clear(): void;
+    splice(o: ZPP_Callback): ZPP_Callback | null;
+    rotateL(): void;
+    rotateR(): void;
+    cycleNext(o: ZPP_Callback): ZPP_Callback | null;
+    cyclePrev(o: ZPP_Callback): ZPP_Callback | null;
+    at(i: number): ZPP_Callback;
+    rev_at(i: number): ZPP_Callback;
+    free(): void;
+    alloc(): void;
+    genarbs(): void;
+}
+
+/**
+ * ZPP_Space -- Internal space implementation (core simulation loop).
+ * Converted from nape-compiled.js lines 30236-43690.
+ *
+ * This is the largest and most complex class in the engine (~13,450 lines).
+ * It handles integration, constraint solving, broadphase management,
+ * sleeping/waking, and callback dispatch.
+ */
+
+type Any$P = any;
+declare class ZPP_Space {
+    static __name__: string[];
+    static _zpp: Any$P;
+    static _nape: Any$P;
+    outer: Any$P;
+    userData: Any$P;
+    gravityx: Any$P;
+    gravityy: Any$P;
+    wrap_gravity: Any$P;
+    bodies: Any$P;
+    wrap_bodies: Any$P;
+    compounds: Any$P;
+    wrap_compounds: Any$P;
+    constraints: Any$P;
+    wrap_constraints: Any$P;
+    kinematics: Any$P;
+    bphase: Any$P;
+    __static: Any$P;
+    global_lin_drag: Any$P;
+    global_ang_drag: Any$P;
+    stamp: Any$P;
+    midstep: Any$P;
+    time: Any$P;
+    sortcontacts: Any$P;
+    c_arbiters_true: Any$P;
+    c_arbiters_false: Any$P;
+    f_arbiters: Any$P;
+    s_arbiters: Any$P;
+    wrap_arbiters: Any$P;
+    live: Any$P;
+    wrap_live: Any$P;
+    live_constraints: Any$P;
+    wrap_livecon: Any$P;
+    staticsleep: Any$P;
+    islands: Any$P;
+    listeners: Any$P;
+    wrap_listeners: Any$P;
+    callbacks: Any$P;
+    callbackset_list: Any$P;
+    cbsets: Any$P;
+    convexShapeList: Any$P;
+    pre_dt: Any$P;
+    toiEvents: Any$P;
+    continuous: Any$P;
+    precb: Any$P;
+    prelisteners: Any$P;
+    mrca1: Any$P;
+    mrca2: Any$P;
+    __class__: Any$P;
+    constructor(gravity?: Any$P, broadphase?: Any$P);
+    getgravity(): void;
+    gravity_invalidate(x: Any$P): void;
+    gravity_validate(): void;
+    clear(): void;
+    bodies_adder(x: Any$P): boolean;
+    bodies_subber(x: Any$P): void;
+    bodies_modifiable(): void;
+    compounds_adder(x: Any$P): boolean;
+    compounds_subber(x: Any$P): void;
+    compounds_modifiable(): void;
+    constraints_adder(x: Any$P): boolean;
+    constraints_subber(x: Any$P): void;
+    constraints_modifiable(): void;
+    listeners_adder(x: Any$P): boolean;
+    listeners_subber(x: Any$P): void;
+    listeners_modifiable(): void;
+    revoke_listener(x: Any$P): void;
+    unrevoke_listener(x: Any$P): void;
+    addListener(x: Any$P): void;
+    remListener(x: Any$P): void;
+    add_callbackset(cb: Any$P): void;
+    remove_callbackset(cb: Any$P): void;
+    transmitType(p: Any$P, new_type: Any$P): void;
+    added_shape(s: Any$P, dontwake: Any$P): void;
+    removed_shape(s: Any$P, deleting: Any$P): void;
+    addConstraint(con: Any$P): void;
+    remConstraint(con: Any$P): void;
+    addCompound(x: Any$P): void;
+    remCompound(x: Any$P): void;
+    addBody(body: Any$P, flag?: Any$P): void;
+    remBody(body: Any$P, flag?: Any$P): void;
+    shapesUnderPoint(x: Any$P, y: Any$P, filter: Any$P, output: Any$P): any;
+    bodiesUnderPoint(x: Any$P, y: Any$P, filter: Any$P, output: Any$P): any;
+    shapesInAABB(aabb: Any$P, strict: Any$P, cont: Any$P, filter: Any$P, output: Any$P): any;
+    bodiesInAABB(aabb: Any$P, strict: Any$P, cont: Any$P, filter: Any$P, output: Any$P): any;
+    shapesInCircle(pos: Any$P, rad: Any$P, cont: Any$P, filter: Any$P, output: Any$P): any;
+    bodiesInCircle(pos: Any$P, rad: Any$P, cont: Any$P, filter: Any$P, output: Any$P): any;
+    shapesInShape(shape: Any$P, cont: Any$P, filter: Any$P, output: Any$P): any;
+    bodiesInShape(shape: Any$P, cont: Any$P, filter: Any$P, output: Any$P): any;
+    rayCast(ray: Any$P, inner: Any$P, filter: Any$P): any;
+    rayMultiCast(ray: Any$P, inner: Any$P, filter: Any$P, output: Any$P): any;
+    convexCast(shape: Any$P, deltaTime: Any$P, filter: Any$P, dynamics: Any$P): any;
+    prepareCast(s: Any$P): void;
+    convexMultiCast(shape: Any$P, deltaTime: Any$P, filter: Any$P, dynamics: Any$P, output: Any$P): any;
+    push_callback(i: Any$P): ZPP_Callback;
+    step(deltaTime: Any$P, velocityIterations: Any$P, positionIterations: Any$P): void;
+    continuousCollisions(deltaTime: Any$P): void;
+    continuousEvent(s1: Any$P, s2: Any$P, stat: Any$P, in_arb: Any$P, _: Any$P): any;
+    bodyCbWake(b: Any$P): void;
+    bodyCbSleep(b: Any$P): void;
+    constraintCbWake(con: Any$P): void;
+    constraintCbSleep(con: Any$P): void;
+    constraintCbBreak(con: Any$P): void;
+    nullListenerType(cb1: Any$P, cb2: Any$P): void;
+    nullInteractorType(intx: Any$P, me: Any$P): void;
+    freshListenerType(cb1: Any$P, cb2: Any$P): void;
+    freshInteractorType(intx: Any$P, me: Any$P): void;
+    wakeCompound(x: Any$P): void;
+    wakeIsland(i: Any$P): void;
+    non_inlined_wake(o: Any$P, fst?: Any$P): void;
+    really_wake(o: Any$P, fst?: Any$P): void;
+    wake_constraint(con: Any$P, fst?: Any$P): boolean;
+    doForests(dt: Any$P): void;
+    sleepArbiters(): void;
+    static_validation(body: Any$P): void;
+    validation(): void;
+    updateVel(dt: Any$P): void;
+    updatePos(dt: Any$P): void;
+    presteparb(arb: Any$P, dt: Any$P, cont?: Any$P): boolean;
+    prestep(dt: Any$P): void;
+    warmStart(): void;
+    iterateVel(times: Any$P): void;
+    iteratePos(times: Any$P): void;
+    group_ignore(s1: Any$P, s2: Any$P): boolean;
+    interactionType(s1: Any$P, s2: Any$P, b1: Any$P, b2: Any$P): 0 | 1 | 2 | -1;
+    narrowPhase(s1: Any$P, s2: Any$P, stat: Any$P, in_arb: Any$P, continuous: Any$P): any;
+    MRCA_chains(s1: Any$P, s2: Any$P): void;
+    inlined_MRCA_chains(s1: Any$P, s2: Any$P): void;
+}
+
+type Any$O = any;
+/**
+ * The physics world. Add bodies and constraints, then call `step()` each frame.
+ *
+ * Fully modernized — uses ZPP_Space directly (extracted to TypeScript).
+ */
+declare class Space {
+    zpp_inner: ZPP_Space;
+    constructor(gravity?: Vec2, broadphase?: Any$O);
+    /** @internal */
+    get _inner(): Any$O;
+    /** @internal */
+    static _wrap(inner: NapeInner): Space;
+    get userData(): Record<string, unknown>;
+    get gravity(): Vec2;
+    set gravity(value: Vec2);
+    get broadphase(): Any$O;
+    get sortContacts(): boolean;
+    set sortContacts(value: boolean);
+    get worldAngularDrag(): number;
+    set worldAngularDrag(value: number);
+    get worldLinearDrag(): number;
+    set worldLinearDrag(value: number);
+    get compounds(): Any$O;
+    get bodies(): Any$O;
+    get liveBodies(): Any$O;
+    get constraints(): Any$O;
+    get liveConstraints(): Any$O;
+    get world(): Body;
+    get arbiters(): Any$O;
+    get listeners(): Any$O;
+    get timeStamp(): number;
+    get elapsedTime(): number;
+    step(deltaTime: number, velocityIterations?: number, positionIterations?: number): void;
+    clear(): void;
+    visitBodies(lambda: (body: Body) => void): void;
+    visitConstraints(lambda: (constraint: Constraint) => void): void;
+    visitCompounds(lambda: (compound: Any$O) => void): void;
+    interactionType(shape1: Shape, shape2: Shape): Any$O;
+    shapesUnderPoint(point: Vec2, filter?: InteractionFilter | Any$O, output?: Any$O): Any$O;
+    bodiesUnderPoint(point: Vec2, filter?: InteractionFilter | Any$O, output?: Any$O): Any$O;
+    shapesInAABB(aabb: AABB, containment?: boolean, strict?: boolean, filter?: InteractionFilter | Any$O, output?: Any$O): Any$O;
+    bodiesInAABB(aabb: AABB, containment?: boolean, strict?: boolean, filter?: InteractionFilter | Any$O, output?: Any$O): Any$O;
+    shapesInCircle(position: Vec2, radius: number, containment?: boolean, filter?: InteractionFilter | Any$O, output?: Any$O): Any$O;
+    bodiesInCircle(position: Vec2, radius: number, containment?: boolean, filter?: InteractionFilter | Any$O, output?: Any$O): Any$O;
+    shapesInShape(shape: Shape, containment?: boolean, filter?: InteractionFilter | Any$O, output?: Any$O): Any$O;
+    bodiesInShape(shape: Shape, containment?: boolean, filter?: InteractionFilter | Any$O, output?: Any$O): Any$O;
+    shapesInBody(body: Body, filter?: InteractionFilter | Any$O, output?: Any$O): Any$O;
+    bodiesInBody(body: Body, filter?: InteractionFilter | Any$O, output?: Any$O): Any$O;
+    convexCast(shape: Shape, deltaTime: number, liveSweep?: boolean, filter?: InteractionFilter | Any$O): Any$O;
+    convexMultiCast(shape: Shape, deltaTime: number, liveSweep?: boolean, filter?: InteractionFilter | Any$O, output?: Any$O): Any$O;
+    rayCast(ray: Ray | Any$O, inner?: boolean, filter?: InteractionFilter | Any$O): Any$O;
+    rayMultiCast(ray: Ray | Any$O, inner?: boolean, filter?: InteractionFilter | Any$O, output?: Any$O): Any$O;
+    toString(): string;
+    /** @internal */ get_userData(): Any$O;
+    /** @internal */ get_gravity(): Any$O;
+    /** @internal */ set_gravity(v: Any$O): Any$O;
+    /** @internal */ get_broadphase(): Any$O;
+    /** @internal */ get_sortContacts(): boolean;
+    /** @internal */ set_sortContacts(v: boolean): boolean;
+    /** @internal */ get_worldAngularDrag(): number;
+    /** @internal */ set_worldAngularDrag(v: number): number;
+    /** @internal */ get_worldLinearDrag(): number;
+    /** @internal */ set_worldLinearDrag(v: number): number;
+    /** @internal */ get_compounds(): Any$O;
+    /** @internal */ get_bodies(): Any$O;
+    /** @internal */ get_liveBodies(): Any$O;
+    /** @internal */ get_constraints(): Any$O;
+    /** @internal */ get_liveConstraints(): Any$O;
+    /** @internal */ get_world(): Any$O;
+    /** @internal */ get_arbiters(): Any$O;
+    /** @internal */ get_listeners(): Any$O;
+    /** @internal */ get_timeStamp(): number;
+    /** @internal */ get_elapsedTime(): number;
+}
+
+/**
+ * Body type enumeration.
+ *
+ * - `STATIC`    — immovable, infinite mass (walls, floors)
+ * - `DYNAMIC`   — fully simulated (default)
+ * - `KINEMATIC` — moves only via velocity, not affected by forces
+ *
+ * Converted from nape-compiled.js lines 24640–24705.
+ */
+declare class BodyType {
+    static __name__: string[];
+    constructor();
+    static get STATIC(): BodyType;
+    static get DYNAMIC(): BodyType;
+    static get KINEMATIC(): BodyType;
+    static get_STATIC(): BodyType;
+    static get_DYNAMIC(): BodyType;
+    static get_KINEMATIC(): BodyType;
+    toString(): string;
+}
+
 /**
  * ZPP_InteractionGroup — Internal interaction group for the nape physics engine.
  *
@@ -1277,22 +1559,22 @@ declare class InteractionFilter {
  *
  * Converted from nape-compiled.js lines 63367–63463, 135330–135331.
  */
-type Any$L = any;
+type Any$N = any;
 declare class ZPP_InteractionGroup {
     static SHAPE: number;
     static BODY: number;
     static __name__: string[];
-    static _zpp: Any$L;
-    static _wrapFn: ((zpp: ZPP_InteractionGroup) => Any$L) | null;
-    outer: Any$L;
+    static _zpp: Any$N;
+    static _wrapFn: ((zpp: ZPP_InteractionGroup) => Any$N) | null;
+    outer: Any$N;
     ignore: boolean;
     group: ZPP_InteractionGroup | null;
-    groups: Any$L;
-    wrap_groups: Any$L;
-    interactors: Any$L;
-    wrap_interactors: Any$L;
+    groups: Any$N;
+    wrap_groups: Any$N;
+    interactors: Any$N;
+    wrap_interactors: Any$N;
     depth: number;
-    __class__: Any$L;
+    __class__: Any$N;
     constructor();
     /** Set or change the parent group. */
     setGroup(group: ZPP_InteractionGroup | null): void;
@@ -1303,9 +1585,9 @@ declare class ZPP_InteractionGroup {
     /** Remove a child group. */
     remGroup(group: ZPP_InteractionGroup): void;
     /** Register an interactor in this group. */
-    addInteractor(intx: Any$L): void;
+    addInteractor(intx: Any$N): void;
     /** Unregister an interactor from this group. */
-    remInteractor(intx: Any$L, flag?: number): void;
+    remInteractor(intx: Any$N, flag?: number): void;
 }
 
 /**
@@ -1391,834 +1673,687 @@ declare class Interactor {
 }
 
 /**
- * Shape type classification.
+ * ZPP_Body — Internal body representation for the nape physics engine.
  *
- * - `CIRCLE`  — circle shape
- * - `POLYGON` — polygon shape
+ * Core physics body managing position, velocity, mass, inertia, shapes, and
+ * CCD (continuous collision detection) sweep integration.
+ * Extends ZPP_Interactor (still in compiled code — methods copied at init time).
  *
- * Converted from nape-compiled.js lines 30435–30482.
+ * Converted from nape-compiled.js lines 52431–54547.
  */
-declare class ShapeType {
-    static __name__: string[];
-    constructor();
-    static get CIRCLE(): ShapeType;
-    static get POLYGON(): ShapeType;
-    static get_CIRCLE(): ShapeType;
-    static get_POLYGON(): ShapeType;
-    toString(): string;
-}
 
-/**
- * Base class for physics shapes (Circle, Polygon).
- *
- * Fully modernized — all getters/setters access the ZPP_Shape inner directly.
- */
-declare class Shape extends Interactor {
-    /** @internal – shapes are created via Circle or Polygon constructors. */
-    protected constructor();
-    /** @internal */
-    static _wrap(inner: NapeInner): Shape;
-    get type(): ShapeType;
-    isCircle(): boolean;
-    isPolygon(): boolean;
-    get body(): Body;
-    set body(value: Body | null);
-    get castCircle(): Shape | null;
-    get castPolygon(): Shape | null;
-    get worldCOM(): Vec2;
-    get localCOM(): Vec2;
-    set localCOM(value: Vec2);
-    get area(): number;
-    get inertia(): number;
-    get angDrag(): number;
-    get material(): Material;
-    set material(value: Material);
-    get filter(): InteractionFilter;
-    set filter(value: InteractionFilter);
-    get fluidProperties(): FluidProperties;
-    set fluidProperties(value: FluidProperties);
-    /** Callback types assigned to this shape. */
-    get cbTypes(): CbTypeSet;
-    get fluidEnabled(): boolean;
-    set fluidEnabled(value: boolean);
-    get sensorEnabled(): boolean;
-    set sensorEnabled(value: boolean);
-    get bounds(): AABB;
-    translate(translation: Vec2): Shape;
-    scale(scaleX: number, scaleY: number): Shape;
-    rotate(angle: number): Shape;
-    transform(matrix: {
-        _inner: NapeInner;
-    }): Shape;
-    contains(point: Vec2): boolean;
-    copy(): Shape;
-    toString(): string;
-    /** @internal */ get_type(): ShapeType;
-    /** @internal */ get_body(): Body;
-    /** @internal */ set_body(v: Body | null): void;
-    /** @internal */ get_castCircle(): Shape | null;
-    /** @internal */ get_castPolygon(): Shape | null;
-    /** @internal */ get_worldCOM(): Vec2;
-    /** @internal */ get_localCOM(): Vec2;
-    /** @internal */ set_localCOM(v: Vec2): void;
-    /** @internal */ get_area(): number;
-    /** @internal */ get_inertia(): number;
-    /** @internal */ get_angDrag(): number;
-    /** @internal */ get_material(): Material;
-    /** @internal */ set_material(v: Material): void;
-    /** @internal */ get_filter(): InteractionFilter;
-    /** @internal */ set_filter(v: InteractionFilter): void;
-    /** @internal */ get_fluidProperties(): FluidProperties;
-    /** @internal */ set_fluidProperties(v: FluidProperties): void;
-    /** @internal */ get_fluidEnabled(): boolean;
-    /** @internal */ set_fluidEnabled(v: boolean): void;
-    /** @internal */ get_sensorEnabled(): boolean;
-    /** @internal */ set_sensorEnabled(v: boolean): void;
-    /** @internal */ get_bounds(): AABB;
-    /** Setup worldCOM lazy Vec2 wrapper */
-    private _setupWorldCOM;
-}
-/** Lightweight typed interface for the callback type set on a shape. */
-interface CbTypeSet {
-    readonly _inner: NapeInner;
-    add(cbType: {
-        _inner: NapeInner;
-    }): void;
-    remove(cbType: {
-        _inner: NapeInner;
-    }): void;
-    has(cbType: {
-        _inner: NapeInner;
-    }): boolean;
-    clear(): void;
-    readonly length: number;
-}
-
-/**
- * ZPP_Constraint — Internal base class for all constraints / joints.
- *
- * Manages activation/deactivation, callback types, space integration,
- * and provides stubs for solver methods overridden by joint subclasses.
- *
- * Converted from nape-compiled.js lines 21424–21827.
- */
-type Any$K = any;
-declare class ZPP_Constraint {
+type Any$M = any;
+declare class ZPP_Body {
     static __name__: string[];
+    static __super__: Any$M;
     /**
      * Namespace references, set by the compiled module after import.
-     * _nape = the `nape` public namespace (for CbTypeIterator in copyto)
-     * _zpp = the `zpp_nape` internal namespace (for ZNPList_*, ZPP_CbSet, etc.)
+     * _nape = the `nape` public namespace
+     * _zpp = the `zpp_nape` internal namespace
      */
-    static _nape: Any$K;
-    static _zpp: Any$K;
-    outer: Any$K;
+    static _nape: Any$M;
+    static _zpp: Any$M;
+    static types: Any$M[];
+    static bodystack: Any$M;
+    static bodyset: Any$M;
+    static cur_graph_depth: number;
+    static bodysetlt(a: Any$M, b: Any$M): boolean;
+    static __static(): Any$M;
+    outer_i: Any$M;
     id: number;
-    userData: Any$K;
-    compound: Any$K;
-    space: Any$K;
-    active: boolean;
-    stiff: boolean;
-    frequency: number;
-    damping: number;
-    maxForce: number;
-    maxError: number;
-    breakUnderForce: boolean;
-    breakUnderError: boolean;
-    removeOnBreak: boolean;
-    component: Any$K;
-    ignore: boolean;
-    __velocity: boolean;
-    cbTypes: Any$K;
-    cbSet: Any$K;
-    wrap_cbTypes: Any$K;
-    pre_dt: number;
-    __class__: Any$K;
+    userData: Any$M;
+    ishape: Any$M;
+    ibody: Any$M;
+    icompound: Any$M;
+    wrap_cbTypes: Any$M;
+    cbSet: Any$M;
+    cbTypes: Any$M;
+    group: Any$M;
+    cbsets: Any$M;
+    outer: Any$M;
+    world: boolean;
+    type: number;
+    compound: Any$M;
+    shapes: Any$M;
+    wrap_shapes: Any$M;
+    space: Any$M;
+    arbiters: Any$M;
+    wrap_arbiters: Any$M;
+    constraints: Any$M;
+    wrap_constraints: Any$M;
+    component: Any$M;
+    graph_depth: number;
+    sweepTime: number;
+    sweep_angvel: number;
+    sweepFrozen: boolean;
+    sweepRadius: number;
+    bullet: boolean;
+    bulletEnabled: boolean;
+    disableCCD: boolean;
+    pre_posx: number;
+    pre_posy: number;
+    posx: number;
+    posy: number;
+    wrap_pos: Any$M;
+    velx: number;
+    vely: number;
+    wrap_vel: Any$M;
+    forcex: number;
+    forcey: number;
+    wrap_force: Any$M;
+    kinvelx: number;
+    kinvely: number;
+    wrap_kinvel: Any$M;
+    svelx: number;
+    svely: number;
+    wrap_svel: Any$M;
+    wrapcvel: Any$M;
+    angvel: number;
+    torque: number;
+    kinangvel: number;
+    pre_rot: number;
+    rot: number;
+    axisx: number;
+    axisy: number;
+    zip_axis: boolean;
+    kinematicDelaySleep: boolean;
+    mass: number;
+    zip_mass: boolean;
+    massMode: number;
+    imass: number;
+    smass: number;
+    cmass: number;
+    nomove: boolean;
+    gravMass: number;
+    zip_gravMass: boolean;
+    gravMassMode: number;
+    gravMassScale: number;
+    zip_gravMassScale: boolean;
+    inertiaMode: number;
+    inertia: number;
+    zip_inertia: boolean;
+    cinertia: number;
+    iinertia: number;
+    sinertia: number;
+    norotate: boolean;
+    aabb: ZPP_AABB;
+    zip_aabb: boolean;
+    localCOMx: number;
+    localCOMy: number;
+    zip_localCOM: boolean;
+    worldCOMx: number;
+    worldCOMy: number;
+    zip_worldCOM: boolean;
+    wrap_localCOM: Any$M;
+    wrap_worldCOM: Any$M;
+    __class__: Any$M;
     constructor();
-    /**
-     * Initialise base constraint fields.
-     * Extracted into a separate method because compiled joint subclasses
-     * call `ZPP_Constraint.call(this)` — ES classes can't be invoked that
-     * way, so the compiled wrapper delegates to this method instead.
-     */
-    _initBase(): void;
+    isStatic(): boolean;
+    isDynamic(): boolean;
+    isKinematic(): boolean;
+    invalidate_type(): void;
+    invalidate_shapes(): void;
+    init_bodysetlist(): void;
+    connectedBodies_cont(b: Any$M): void;
+    connectedBodies(depth: number, output: Any$M): Any$M;
+    interactingBodies(type: number, output: Any$M): Any$M;
+    atRest(dt: number): boolean;
+    refreshArbiters(): void;
+    sweepIntegrate(dt: number): void;
+    sweepValidate(s: Any$M): void;
+    invalidate_pos(): void;
+    pos_invalidate(pos: Any$M): void;
+    pos_validate(): void;
+    vel_invalidate(vel: Any$M): void;
+    vel_validate(): void;
+    kinvel_invalidate(vel: Any$M): void;
+    kinvel_validate(): void;
+    svel_invalidate(vel: Any$M): void;
+    svel_validate(): void;
+    force_invalidate(force: Any$M): void;
+    force_validate(): void;
+    private _setupVec2Wrapper;
+    setupPosition(): void;
+    setupVelocity(): void;
+    setupkinvel(): void;
+    setupsvel(): void;
+    setupForce(): void;
+    cvel_validate(): void;
+    setup_cvel(): void;
+    invalidate_rot(): void;
+    validate_axis(): void;
+    quick_validate_axis(): void;
+    delta_rot(dr: number): void;
+    invalidate_mass(): void;
+    validate_mass(): void;
+    invalidate_gravMass(): void;
+    validate_gravMass(): void;
+    invalidate_gravMassScale(): void;
+    validate_gravMassScale(): void;
+    invalidate_inertia(): void;
+    validate_inertia(): void;
+    invalidate_wake(): void;
+    invalidate_aabb(): void;
+    validate_aabb(): void;
+    private _validateCircleAABB;
+    private _validatePolygonAABB;
+    aabb_validate(): void;
+    invalidate_localCOM(): void;
+    invalidate_worldCOM(): void;
+    private _computePolygonLocalCOM;
+    validate_localCOM(): void;
+    validate_worldCOM(): void;
+    getlocalCOM(): void;
+    getworldCOM(): void;
+    __immutable_midstep(): void;
     clear(): void;
-    activeBodies(): void;
-    inactiveBodies(): void;
-    clearcache(): void;
-    validate(): void;
-    wake_connected(): void;
-    forest(): void;
-    broken(): void;
-    warmStart(): void;
-    draw(_g: Any$K): void;
-    pair_exists(_id: Any$K, _di: Any$K): boolean;
-    preStep(_dt: number): boolean;
-    applyImpulseVel(): boolean;
-    applyImpulsePos(): boolean;
-    copy(_dict?: Any$K, _todo?: Any$K): Any$K;
-    immutable_midstep(name: string): void;
-    setupcbTypes(): void;
-    immutable_cbTypes(): void;
-    wrap_cbTypes_subber(pcb: Any$K): void;
-    wrap_cbTypes_adder(cb: Any$K): boolean;
-    insert_cbtype(cb: Any$K): void;
-    alloc_cbSet(): void;
-    dealloc_cbSet(): void;
-    activate(): void;
-    deactivate(): void;
+    shapes_adder(s: Any$M): boolean;
+    shapes_subber(s: Any$M): void;
+    shapes_invalidate(_param: Any$M): void;
+    shapes_modifiable(): void;
     addedToSpace(): void;
     removedFromSpace(): void;
-    activeInSpace(): void;
-    inactiveOrOutSpace(): void;
-    wake(): void;
-    copyto(ret: Any$K): void;
-    static _findRoot(comp: Any$K): Any$K;
-    static _unionComponents(a: Any$K, b: Any$K): void;
+    private _removeArbiterFromList;
+    copy(): Any$M;
+    wake: () => void;
+    __iaddedToSpace: () => void;
+    __iremovedFromSpace: () => void;
+    immutable_midstep: (name: string) => void;
+    copyto: (ret: Any$M) => void;
+    insert_cbtype: (cb: Any$M) => void;
+    alloc_cbSet: () => void;
+    dealloc_cbSet: () => void;
+    setupcbTypes: () => void;
+    immutable_cbTypes: () => void;
+    wrap_cbTypes_subber: (pcb: Any$M) => void;
+    wrap_cbTypes_adder: (cb: Any$M) => void;
+    setGroup: (group: Any$M) => void;
+    lookup_group: () => Any$M;
+    getSpace: () => Any$M;
+    isShape: () => boolean;
+    isBody: () => boolean;
+    isCompound: () => boolean;
+    static _initialized: boolean;
+    static _init(zpp: Any$M, nape: Any$M): void;
 }
 
-type Any$J = any;
+type Any$L = any;
 /**
- * Base class for all constraints / joints.
+ * A rigid body in the physics simulation.
  *
- * Fully modernized — uses ZPP_Constraint directly (extracted to TypeScript).
- * Not instantiated directly; only via joint subclasses.
+ * Fully modernized — all methods implemented directly using ZPP_Body.
  */
-declare class Constraint {
+declare class Body extends Interactor {
     static __name__: string[];
-    /** Direct access to the extracted internal ZPP_Constraint. */
-    zpp_inner: ZPP_Constraint;
-    /**
-     * Compiled joint reference for joint-specific methods (body1/body2/anchors etc.).
-     * Joint subclasses set this to the compiled joint instance until those joints
-     * are fully modernized. Also serves as backward compat for compiled code.
-     * @internal
-     */
-    _inner: Any$J;
+    static __super__: Any$L;
+    /** Direct access to the extracted internal ZPP_Body. */
+    zpp_inner: ZPP_Body;
     debugDraw: boolean;
+    constructor(type?: BodyType, position?: Vec2);
     /** @internal */
-    protected constructor();
-    /** @internal */
-    static _wrap(inner: Any$J): Constraint;
-    get space(): Space | null;
-    set space(value: Space | null);
-    get compound(): Any$J;
-    set compound(value: Any$J);
-    get active(): boolean;
-    set active(value: boolean);
-    get ignore(): boolean;
-    set ignore(value: boolean);
-    get stiff(): boolean;
-    set stiff(value: boolean);
-    get frequency(): number;
-    set frequency(value: number);
-    get damping(): number;
-    set damping(value: number);
-    get maxForce(): number;
-    set maxForce(value: number);
-    get maxError(): number;
-    set maxError(value: number);
-    get breakUnderForce(): boolean;
-    set breakUnderForce(value: boolean);
-    get breakUnderError(): boolean;
-    set breakUnderError(value: boolean);
-    get removeOnBreak(): boolean;
-    set removeOnBreak(value: boolean);
+    static _wrap(inner: NapeInner): Body;
+    get type(): BodyType;
+    set type(value: BodyType);
+    isStatic(): boolean;
+    isDynamic(): boolean;
+    isKinematic(): boolean;
+    get position(): Vec2;
+    set position(value: Vec2);
+    get rotation(): number;
+    set rotation(value: number);
+    get velocity(): Vec2;
+    set velocity(value: Vec2);
+    get angularVel(): number;
+    set angularVel(value: number);
+    get kinematicVel(): Vec2;
+    set kinematicVel(value: Vec2);
+    get kinAngVel(): number;
+    set kinAngVel(value: number);
+    get surfaceVel(): Vec2;
+    set surfaceVel(value: Vec2);
+    get force(): Vec2;
+    set force(value: Vec2);
+    get torque(): number;
+    set torque(value: number);
+    get mass(): number;
+    set mass(value: number);
+    get inertia(): number;
+    set inertia(value: number);
+    get constraintMass(): number;
+    get constraintInertia(): number;
+    get gravMass(): number;
+    set gravMass(value: number);
+    get gravMassScale(): number;
+    set gravMassScale(value: number);
+    get isBullet(): boolean;
+    set isBullet(value: boolean);
+    get disableCCD(): boolean;
+    set disableCCD(value: boolean);
+    get allowMovement(): boolean;
+    set allowMovement(value: boolean);
+    get allowRotation(): boolean;
+    set allowRotation(value: boolean);
     get isSleeping(): boolean;
-    get userData(): Record<string, unknown>;
-    get cbTypes(): Any$J;
-    impulse(): Any$J;
-    bodyImpulse(_body: Body): Any$J;
-    visitBodies(_fn: (body: Body) => void): void;
-    copy(): Constraint;
+    get shapes(): NapeList<Shape>;
+    get space(): Space;
+    set space(value: Space | null);
+    get compound(): Any$L;
+    set compound(value: Any$L);
+    get bounds(): AABB;
+    get constraintVelocity(): Vec2;
+    get localCOM(): Vec2;
+    get worldCOM(): Vec2;
+    get massMode(): Any$L;
+    set massMode(value: Any$L);
+    get inertiaMode(): Any$L;
+    set inertiaMode(value: Any$L);
+    get gravMassMode(): Any$L;
+    set gravMassMode(value: Any$L);
+    copy(): Body;
     toString(): string;
-    /** @internal */ get_userData(): Any$J;
-    /** @internal */ get_compound(): Any$J;
-    /** @internal */ set_compound(v: Any$J): Any$J;
-    /** @internal */ get_space(): Any$J;
-    /** @internal */ set_space(v: Any$J): Any$J;
-    /** @internal */ get_isSleeping(): boolean;
-    /** @internal */ get_active(): boolean;
-    /** @internal */ set_active(v: boolean): boolean;
-    /** @internal */ get_ignore(): boolean;
-    /** @internal */ set_ignore(v: boolean): boolean;
-    /** @internal */ get_stiff(): boolean;
-    /** @internal */ set_stiff(v: boolean): boolean;
-    /** @internal */ get_frequency(): number;
-    /** @internal */ set_frequency(v: number): number;
-    /** @internal */ get_damping(): number;
-    /** @internal */ set_damping(v: number): number;
-    /** @internal */ get_maxForce(): number;
-    /** @internal */ set_maxForce(v: number): number;
-    /** @internal */ get_maxError(): number;
-    /** @internal */ set_maxError(v: number): number;
-    /** @internal */ get_breakUnderForce(): boolean;
-    /** @internal */ set_breakUnderForce(v: boolean): boolean;
-    /** @internal */ get_breakUnderError(): boolean;
-    /** @internal */ set_breakUnderError(v: boolean): boolean;
-    /** @internal */ get_removeOnBreak(): boolean;
-    /** @internal */ set_removeOnBreak(v: boolean): boolean;
-    /** @internal */ get_cbTypes(): Any$J;
+    get_type(): Any$L;
+    set_type(type: Any$L): Any$L;
+    get_shapes(): Any$L;
+    get_isBullet(): boolean;
+    set_isBullet(v: boolean): boolean;
+    get_disableCCD(): boolean;
+    set_disableCCD(v: boolean): boolean;
+    get_position(): Any$L;
+    set_position(position: Any$L): Any$L;
+    get_velocity(): Any$L;
+    set_velocity(velocity: Any$L): Any$L;
+    get_rotation(): number;
+    set_rotation(rotation: number): number;
+    get_angularVel(): number;
+    set_angularVel(angularVel: number): number;
+    get_kinematicVel(): Any$L;
+    set_kinematicVel(kinematicVel: Any$L): Any$L;
+    get_kinAngVel(): number;
+    set_kinAngVel(kinAngVel: number): number;
+    get_surfaceVel(): Any$L;
+    set_surfaceVel(surfaceVel: Any$L): Any$L;
+    get_force(): Any$L;
+    set_force(force: Any$L): Any$L;
+    get_torque(): number;
+    set_torque(torque: number): number;
+    get_bounds(): Any$L;
+    get_constraintVelocity(): Any$L;
+    get_constraintMass(): number;
+    get_constraintInertia(): number;
+    get_allowMovement(): boolean;
+    set_allowMovement(allowMovement: boolean): boolean;
+    get_allowRotation(): boolean;
+    set_allowRotation(allowRotation: boolean): boolean;
+    get_isSleeping(): boolean;
+    get_compound(): Any$L;
+    set_compound(compound: Any$L): Any$L;
+    get_space(): Any$L;
+    set_space(space: Any$L): Any$L;
+    get_arbiters(): Any$L;
+    get_constraints(): Any$L;
+    get_massMode(): Any$L;
+    set_massMode(massMode: Any$L): Any$L;
+    get_mass(): number;
+    set_mass(mass: number): number;
+    get_gravMassMode(): Any$L;
+    set_gravMassMode(gravMassMode: Any$L): Any$L;
+    get_gravMass(): number;
+    set_gravMass(gravMass: number): number;
+    get_gravMassScale(): number;
+    set_gravMassScale(gravMassScale: number): number;
+    get_inertiaMode(): Any$L;
+    set_inertiaMode(inertiaMode: Any$L): Any$L;
+    get_inertia(): number;
+    set_inertia(inertia: number): number;
+    get_localCOM(): Any$L;
+    get_worldCOM(): Any$L;
+    integrate(deltaTime: number): Body;
+    localPointToWorld(point: Vec2, weak?: boolean): Vec2;
+    worldPointToLocal(point: Vec2, weak?: boolean): Vec2;
+    localVectorToWorld(vector: Vec2, weak?: boolean): Vec2;
+    worldVectorToLocal(vector: Vec2, weak?: boolean): Vec2;
+    applyImpulse(impulse: Vec2, pos?: Vec2, sleepable?: boolean): Body;
+    applyAngularImpulse(impulse: number, sleepable?: boolean): Body;
+    setVelocityFromTarget(targetPosition: Vec2, targetRotation: number, deltaTime: number): Body;
+    translateShapes(translation: Vec2): Body;
+    rotateShapes(angle: number): Body;
+    scaleShapes(scaleX: number, scaleY: number): Body;
+    transformShapes(matrix: Any$L): Body;
+    align(): Body;
+    rotate(centre: Vec2, angle: number): Body;
+    setShapeMaterials(material: Any$L): Body;
+    setShapeFilters(filter: Any$L): Body;
+    setShapeFluidProperties(fluidProperties: Any$L): Body;
+    contains(point: Vec2): boolean;
+    connectedBodies(depth?: number, output?: Any$L): Any$L;
+    interactingBodies(type?: Any$L, depth?: number, output?: Any$L): Any$L;
+    normalImpulse(body?: Any$L, freshOnly?: boolean): Vec3;
+    tangentImpulse(body?: Any$L, freshOnly?: boolean): Vec3;
+    totalContactsImpulse(body?: Any$L, freshOnly?: boolean): Vec3;
+    rollingImpulse(body?: Any$L, freshOnly?: boolean): number;
+    buoyancyImpulse(body?: Any$L): Vec3;
+    dragImpulse(body?: Any$L): Vec3;
+    totalFluidImpulse(body?: Any$L): Vec3;
+    constraintsImpulse(): Vec3;
+    totalImpulse(body?: Any$L, freshOnly?: boolean): Vec3;
+    crushFactor(): number;
+    private _arbiterImpulseQuery;
 }
 
 /**
- * ZPP_Listener — Internal listener base class for the nape physics engine.
+ * ZPP_Material — Internal material representation for the nape physics engine.
  *
- * Base class for ZPP_BodyListener, ZPP_ConstraintListener, and
- * ZPP_InteractionListener. Holds common properties (space, precedence,
- * event type, listener type) and provides stub methods for subclass override.
+ * Stores physical material properties (friction, elasticity, density) and
+ * manages the list of shapes that reference this material for invalidation.
  *
- * Converted from nape-compiled.js lines 27259–27304, 112053–112139.
+ * Converted from nape-compiled.js lines 87523–87601, 135477–135481.
  */
-type Any$I = any;
-declare class ZPP_Listener {
+type Any$K = any;
+declare class ZPP_Material {
+    static zpp_pool: ZPP_Material | null;
+    static WAKE: number;
+    static PROPS: number;
+    static ANGDRAG: number;
+    static ARBITERS: number;
     static __name__: string[];
-    static _nape: Any$I;
-    static _zpp: Any$I;
-    static internal: boolean;
-    static types: Any$I[];
-    static events: Any$I[];
-    space: Any$I;
-    interaction: Any$I;
-    constraint: Any$I;
-    body: Any$I;
-    precedence: number;
-    event: number;
-    type: number;
-    id: number;
-    outer: Any$I;
-    __class__: Any$I;
+    /**
+     * Namespace references, set by the compiled module after import.
+     * _nape  = the `nape` public namespace (for wrapper creation)
+     * _zpp   = the `zpp_nape` internal namespace (for ZNPList_ZPP_Shape)
+     */
+    static _nape: Any$K;
+    static _zpp: Any$K;
+    /**
+     * Wrapper factory callback, registered by the modernized Material class.
+     * When set, wrapper() uses this instead of creating a compiled Material.
+     */
+    static _wrapFn: ((zpp: ZPP_Material) => Any$K) | null;
+    elasticity: number;
+    dynamicFriction: number;
+    staticFriction: number;
+    density: number;
+    rollingFriction: number;
+    shapes: Any$K;
+    wrap_shapes: Any$K;
+    outer: Any$K;
+    userData: Any$K;
+    next: ZPP_Material | null;
+    __class__: Any$K;
     constructor();
-    /** Sort comparator: higher precedence first, then by id descending. */
-    static setlt(a: ZPP_Listener, b: ZPP_Listener): boolean;
-    swapEvent(_event?: number): void;
-    invalidate_precedence(): void;
-    addedToSpace(): void;
-    removedFromSpace(): void;
+    /** Create/return the public nape.phys.Material wrapper for this internal object. */
+    wrapper(): Any$K;
+    /** Called when this object is returned to the pool. */
+    free(): void;
+    /** Called when this object is taken from the pool. */
+    alloc(): void;
+    /** Initialize the shapes list (called during feature construction). */
+    feature_cons(): void;
+    /** Register a shape that uses this material. */
+    addShape(shape: Any$K): void;
+    /** Unregister a shape that no longer uses this material. */
+    remShape(shape: Any$K): void;
+    /** Create a copy with the same property values. */
+    copy(): ZPP_Material;
+    /** Copy all property values from another ZPP_Material. */
+    set(x: ZPP_Material): void;
+    /** Notify all shapes using this material that properties changed. */
+    invalidate(x: number): void;
 }
 
 /**
- * Callback event types.
+ * Physical material properties applied to shapes.
  *
- * - `BEGIN`   — interaction just started
- * - `ONGOING` — interaction continues
- * - `END`     — interaction just ended
- * - `WAKE`    — body/constraint woke up
- * - `SLEEP`   — body/constraint went to sleep
- * - `BREAK`   — constraint was broken
- * - `PRE`     — pre-interaction callback
+ * Controls elasticity (bounciness), friction coefficients, density, and
+ * rolling friction.  Internally wraps a ZPP_Material and is registered as
+ * the public `nape.phys.Material` class in the compiled namespace.
  *
- * Converted from nape-compiled.js lines 516–657.
+ * Converted from nape-compiled.js lines 38254–38573.
  */
-declare class CbEvent {
+declare class Material {
     static __name__: string[];
-    constructor();
-    static get BEGIN(): CbEvent;
-    static get ONGOING(): CbEvent;
-    static get END(): CbEvent;
-    static get WAKE(): CbEvent;
-    static get SLEEP(): CbEvent;
-    static get BREAK(): CbEvent;
-    static get PRE(): CbEvent;
-    static get_BEGIN(): CbEvent;
-    static get_ONGOING(): CbEvent;
-    static get_END(): CbEvent;
-    static get_WAKE(): CbEvent;
-    static get_SLEEP(): CbEvent;
-    static get_BREAK(): CbEvent;
-    static get_PRE(): CbEvent;
+    /** @internal The internal ZPP_Material this wrapper owns. */
+    zpp_inner: ZPP_Material;
+    /**
+     * Backward-compatible accessor — returns `this` so that compiled engine
+     * code that receives `material._inner` can still access `zpp_inner`.
+     * @internal
+     */
+    get _inner(): NapeInner;
+    constructor(elasticity?: number, dynamicFriction?: number, staticFriction?: number, density?: number, rollingFriction?: number);
+    /** @internal Wrap a ZPP_Material (or legacy compiled Material) with caching. */
+    static _wrap(inner: any): Material;
+    get elasticity(): number;
+    set elasticity(value: number);
+    get dynamicFriction(): number;
+    set dynamicFriction(value: number);
+    get staticFriction(): number;
+    set staticFriction(value: number);
+    get density(): number;
+    set density(value: number);
+    get rollingFriction(): number;
+    set rollingFriction(value: number);
+    get userData(): Record<string, unknown>;
+    copy(): Material;
     toString(): string;
-}
+    static wood(): Material;
+    static steel(): Material;
+    static ice(): Material;
+    static rubber(): Material;
+    static glass(): Material;
+    static sand(): Material;
+}
 
 /**
- * Listener type classification.
+ * ZPP_FluidProperties — Internal fluid properties for the nape physics engine.
  *
- * - `BODY`        — body event listener
- * - `CONSTRAINT`  — constraint event listener
- * - `INTERACTION` — interaction event listener
- * - `PRE`         — pre-interaction listener
+ * Stores density, viscosity, and per-fluid gravity override.
+ * Manages the list of shapes that reference these properties for invalidation.
  *
- * Converted from nape-compiled.js lines 2554–2646.
+ * Converted from nape-compiled.js lines 87335–87523, 135403.
  */
-declare class ListenerType {
+type Any$J = any;
+declare class ZPP_FluidProperties {
+    static zpp_pool: ZPP_FluidProperties | null;
     static __name__: string[];
-    static BODY: ListenerType | null;
-    static CONSTRAINT: ListenerType | null;
-    static INTERACTION: ListenerType | null;
-    static PRE: ListenerType | null;
+    static _nape: Any$J;
+    static _zpp: Any$J;
+    static _wrapFn: ((zpp: ZPP_FluidProperties) => Any$J) | null;
+    viscosity: number;
+    density: number;
+    gravityx: number;
+    gravityy: number;
+    wrap_gravity: Any$J;
+    shapes: Any$J;
+    wrap_shapes: Any$J;
+    outer: Any$J;
+    userData: Any$J;
+    next: ZPP_FluidProperties | null;
+    __class__: Any$J;
     constructor();
-    static get_BODY(): ListenerType;
-    static get_CONSTRAINT(): ListenerType;
-    static get_INTERACTION(): ListenerType;
-    static get_PRE(): ListenerType;
-    toString(): string;
+    /** Create/return the public nape.phys.FluidProperties wrapper. */
+    wrapper(): Any$J;
+    free(): void;
+    alloc(): void;
+    feature_cons(): void;
+    addShape(shape: Any$J): void;
+    remShape(shape: Any$J): void;
+    /** Copy with object pooling. */
+    copy(): ZPP_FluidProperties;
+    /** Called when gravity Vec2 wrapper is invalidated (user set new gravity). */
+    gravity_invalidate(x: Any$J): void;
+    /** Sync the gravity Vec2 wrapper with internal values. */
+    gravity_validate(): void;
+    /** Lazily create and return the gravity Vec2 wrapper. */
+    getgravity(): void;
+    /** Notify all shapes that fluid properties changed. */
+    invalidate(): void;
 }
 
 /**
- * Listener — Base class for all physics event listeners.
+ * Fluid properties for shapes that act as fluid regions.
  *
- * Provides common properties (type, event, precedence, space) and
- * toString() for all listener subclasses.
+ * Controls density, viscosity, and per-fluid gravity override.
+ * Internally wraps a ZPP_FluidProperties and is registered as
+ * the public `nape.phys.FluidProperties` class in the compiled namespace.
  *
- * Fully modernized from nape-compiled.js lines 231–433.
+ * Converted from nape-compiled.js lines 37002–37511.
  */
-
-type Any$H = any;
-declare class Listener {
+declare class FluidProperties {
     static __name__: string[];
-    zpp_inner: ZPP_Listener;
-    get _inner(): Any$H;
-    constructor();
-    static _wrap(inner: Any$H): Listener;
-    get type(): ListenerType;
-    get event(): CbEvent;
-    set event(event: CbEvent);
-    get precedence(): number;
-    set precedence(precedence: number);
-    get space(): Space | null;
-    set space(space: Space | Any$H | null);
-    toString(): string;
-}
-
-/**
- * The physics world. Add bodies and constraints, then call `step()` each frame.
- */
-declare class Space {
-    /** @internal */
-    readonly _inner: NapeInner;
-    constructor(gravity?: Vec2);
-    /** @internal */
-    static _wrap(inner: NapeInner): Space;
-    get gravity(): Vec2;
-    set gravity(value: Vec2);
-    get worldLinearDrag(): number;
-    set worldLinearDrag(value: number);
-    get worldAngularDrag(): number;
-    set worldAngularDrag(value: number);
-    get sortContacts(): boolean;
-    set sortContacts(value: boolean);
-    get bodies(): NapeList<Body>;
-    get liveBodies(): NapeList<Body>;
-    get constraints(): NapeList<Constraint>;
-    get liveConstraints(): NapeList<Constraint>;
-    get arbiters(): NapeInner;
-    get listeners(): NapeList<Listener>;
-    get compounds(): NapeInner;
-    /** The static world body (always present, immovable). */
-    get world(): Body;
-    get timeStamp(): number;
-    get elapsedTime(): number;
-    get broadphase(): NapeInner;
+    /** @internal The internal ZPP_FluidProperties this wrapper owns. */
+    zpp_inner: ZPP_FluidProperties;
+    /**
+     * Backward-compatible accessor — returns `this` so that compiled engine
+     * code that receives `fluidProps._inner` can still access `zpp_inner`.
+     * @internal
+     */
+    get _inner(): NapeInner;
+    constructor(density?: number, viscosity?: number);
+    /** @internal Wrap a ZPP_FluidProperties (or legacy compiled FluidProperties) with caching. */
+    static _wrap(inner: any): FluidProperties;
+    get density(): number;
+    set density(value: number);
+    get viscosity(): number;
+    set viscosity(value: number);
+    get gravity(): any;
+    set gravity(gravity: any);
     get userData(): Record<string, unknown>;
-    step(deltaTime: number, velocityIterations?: number, positionIterations?: number): void;
-    clear(): void;
-    visitBodies(fn: (body: Body) => void): void;
-    visitConstraints(fn: (constraint: Constraint) => void): void;
-    visitCompounds(fn: (compound: NapeInner) => void): void;
-    shapesUnderPoint(point: Vec2, filter?: InteractionFilterLike, output?: NapeInner): NapeInner;
-    bodiesUnderPoint(point: Vec2, filter?: InteractionFilterLike, output?: NapeInner): NapeInner;
-    shapesInAABB(aabb: AABB, containment?: boolean, strict?: boolean, filter?: InteractionFilterLike, output?: NapeInner): NapeInner;
-    bodiesInAABB(aabb: AABB, containment?: boolean, strict?: boolean, filter?: InteractionFilterLike, output?: NapeInner): NapeInner;
-    rayCast(ray: {
-        _inner: NapeInner;
-    } | NapeInner, inner?: boolean, filter?: InteractionFilterLike): NapeInner;
-    rayMultiCast(ray: {
-        _inner: NapeInner;
-    } | NapeInner, inner?: boolean, filter?: InteractionFilterLike, output?: NapeInner): NapeInner;
+    get shapes(): any;
+    copy(): FluidProperties;
     toString(): string;
 }
-/** @internal Helper type for filter-like parameters. */
-type InteractionFilterLike = {
-    _inner: NapeInner;
-} | NapeInner | undefined;
 
 /**
- * Body type enumeration.
+ * Shape type classification.
  *
- * - `STATIC`    — immovable, infinite mass (walls, floors)
- * - `DYNAMIC`   — fully simulated (default)
- * - `KINEMATIC` — moves only via velocity, not affected by forces
+ * - `CIRCLE`  — circle shape
+ * - `POLYGON` — polygon shape
  *
- * Converted from nape-compiled.js lines 24640–24705.
+ * Converted from nape-compiled.js lines 30435–30482.
  */
-declare class BodyType {
+declare class ShapeType {
     static __name__: string[];
     constructor();
-    static get STATIC(): BodyType;
-    static get DYNAMIC(): BodyType;
-    static get KINEMATIC(): BodyType;
-    static get_STATIC(): BodyType;
-    static get_DYNAMIC(): BodyType;
-    static get_KINEMATIC(): BodyType;
+    static get CIRCLE(): ShapeType;
+    static get POLYGON(): ShapeType;
+    static get_CIRCLE(): ShapeType;
+    static get_POLYGON(): ShapeType;
     toString(): string;
 }
 
 /**
- * ZPP_Body — Internal body representation for the nape physics engine.
- *
- * Core physics body managing position, velocity, mass, inertia, shapes, and
- * CCD (continuous collision detection) sweep integration.
- * Extends ZPP_Interactor (still in compiled code — methods copied at init time).
+ * Base class for physics shapes (Circle, Polygon).
  *
- * Converted from nape-compiled.js lines 52431–54547.
+ * Fully modernized — all getters/setters access the ZPP_Shape inner directly.
  */
-
-type Any$G = any;
-declare class ZPP_Body {
-    static __name__: string[];
-    static __super__: Any$G;
-    /**
-     * Namespace references, set by the compiled module after import.
-     * _nape = the `nape` public namespace
-     * _zpp = the `zpp_nape` internal namespace
-     */
-    static _nape: Any$G;
-    static _zpp: Any$G;
-    static types: Any$G[];
-    static bodystack: Any$G;
-    static bodyset: Any$G;
-    static cur_graph_depth: number;
-    static bodysetlt(a: Any$G, b: Any$G): boolean;
-    static __static(): Any$G;
-    outer_i: Any$G;
-    id: number;
-    userData: Any$G;
-    ishape: Any$G;
-    ibody: Any$G;
-    icompound: Any$G;
-    wrap_cbTypes: Any$G;
-    cbSet: Any$G;
-    cbTypes: Any$G;
-    group: Any$G;
-    cbsets: Any$G;
-    outer: Any$G;
-    world: boolean;
-    type: number;
-    compound: Any$G;
-    shapes: Any$G;
-    wrap_shapes: Any$G;
-    space: Any$G;
-    arbiters: Any$G;
-    wrap_arbiters: Any$G;
-    constraints: Any$G;
-    wrap_constraints: Any$G;
-    component: Any$G;
-    graph_depth: number;
-    sweepTime: number;
-    sweep_angvel: number;
-    sweepFrozen: boolean;
-    sweepRadius: number;
-    bullet: boolean;
-    bulletEnabled: boolean;
-    disableCCD: boolean;
-    pre_posx: number;
-    pre_posy: number;
-    posx: number;
-    posy: number;
-    wrap_pos: Any$G;
-    velx: number;
-    vely: number;
-    wrap_vel: Any$G;
-    forcex: number;
-    forcey: number;
-    wrap_force: Any$G;
-    kinvelx: number;
-    kinvely: number;
-    wrap_kinvel: Any$G;
-    svelx: number;
-    svely: number;
-    wrap_svel: Any$G;
-    wrapcvel: Any$G;
-    angvel: number;
-    torque: number;
-    kinangvel: number;
-    pre_rot: number;
-    rot: number;
-    axisx: number;
-    axisy: number;
-    zip_axis: boolean;
-    kinematicDelaySleep: boolean;
-    mass: number;
-    zip_mass: boolean;
-    massMode: number;
-    imass: number;
-    smass: number;
-    cmass: number;
-    nomove: boolean;
-    gravMass: number;
-    zip_gravMass: boolean;
-    gravMassMode: number;
-    gravMassScale: number;
-    zip_gravMassScale: boolean;
-    inertiaMode: number;
-    inertia: number;
-    zip_inertia: boolean;
-    cinertia: number;
-    iinertia: number;
-    sinertia: number;
-    norotate: boolean;
-    aabb: ZPP_AABB;
-    zip_aabb: boolean;
-    localCOMx: number;
-    localCOMy: number;
-    zip_localCOM: boolean;
-    worldCOMx: number;
-    worldCOMy: number;
-    zip_worldCOM: boolean;
-    wrap_localCOM: Any$G;
-    wrap_worldCOM: Any$G;
-    __class__: Any$G;
-    constructor();
-    isStatic(): boolean;
-    isDynamic(): boolean;
-    isKinematic(): boolean;
-    invalidate_type(): void;
-    invalidate_shapes(): void;
-    init_bodysetlist(): void;
-    connectedBodies_cont(b: Any$G): void;
-    connectedBodies(depth: number, output: Any$G): Any$G;
-    interactingBodies(type: number, output: Any$G): Any$G;
-    atRest(dt: number): boolean;
-    refreshArbiters(): void;
-    sweepIntegrate(dt: number): void;
-    sweepValidate(s: Any$G): void;
-    invalidate_pos(): void;
-    pos_invalidate(pos: Any$G): void;
-    pos_validate(): void;
-    vel_invalidate(vel: Any$G): void;
-    vel_validate(): void;
-    kinvel_invalidate(vel: Any$G): void;
-    kinvel_validate(): void;
-    svel_invalidate(vel: Any$G): void;
-    svel_validate(): void;
-    force_invalidate(force: Any$G): void;
-    force_validate(): void;
-    private _setupVec2Wrapper;
-    setupPosition(): void;
-    setupVelocity(): void;
-    setupkinvel(): void;
-    setupsvel(): void;
-    setupForce(): void;
-    cvel_validate(): void;
-    setup_cvel(): void;
-    invalidate_rot(): void;
-    validate_axis(): void;
-    quick_validate_axis(): void;
-    delta_rot(dr: number): void;
-    invalidate_mass(): void;
-    validate_mass(): void;
-    invalidate_gravMass(): void;
-    validate_gravMass(): void;
-    invalidate_gravMassScale(): void;
-    validate_gravMassScale(): void;
-    invalidate_inertia(): void;
-    validate_inertia(): void;
-    invalidate_wake(): void;
-    invalidate_aabb(): void;
-    validate_aabb(): void;
-    private _validateCircleAABB;
-    private _validatePolygonAABB;
-    aabb_validate(): void;
-    invalidate_localCOM(): void;
-    invalidate_worldCOM(): void;
-    private _computePolygonLocalCOM;
-    validate_localCOM(): void;
-    validate_worldCOM(): void;
-    getlocalCOM(): void;
-    getworldCOM(): void;
-    __immutable_midstep(): void;
+declare class Shape extends Interactor {
+    /** @internal – shapes are created via Circle or Polygon constructors. */
+    protected constructor();
+    /** @internal */
+    static _wrap(inner: NapeInner): Shape;
+    get type(): ShapeType;
+    isCircle(): boolean;
+    isPolygon(): boolean;
+    get body(): Body;
+    set body(value: Body | null);
+    get castCircle(): Shape | null;
+    get castPolygon(): Shape | null;
+    get worldCOM(): Vec2;
+    get localCOM(): Vec2;
+    set localCOM(value: Vec2);
+    get area(): number;
+    get inertia(): number;
+    get angDrag(): number;
+    get material(): Material;
+    set material(value: Material);
+    get filter(): InteractionFilter;
+    set filter(value: InteractionFilter);
+    get fluidProperties(): FluidProperties;
+    set fluidProperties(value: FluidProperties);
+    /** Callback types assigned to this shape. */
+    get cbTypes(): CbTypeSet;
+    get fluidEnabled(): boolean;
+    set fluidEnabled(value: boolean);
+    get sensorEnabled(): boolean;
+    set sensorEnabled(value: boolean);
+    get bounds(): AABB;
+    translate(translation: Vec2): Shape;
+    scale(scaleX: number, scaleY: number): Shape;
+    rotate(angle: number): Shape;
+    transform(matrix: {
+        _inner: NapeInner;
+    }): Shape;
+    contains(point: Vec2): boolean;
+    copy(): Shape;
+    toString(): string;
+    /** @internal */ get_type(): ShapeType;
+    /** @internal */ get_body(): Body;
+    /** @internal */ set_body(v: Body | null): void;
+    /** @internal */ get_castCircle(): Shape | null;
+    /** @internal */ get_castPolygon(): Shape | null;
+    /** @internal */ get_worldCOM(): Vec2;
+    /** @internal */ get_localCOM(): Vec2;
+    /** @internal */ set_localCOM(v: Vec2): void;
+    /** @internal */ get_area(): number;
+    /** @internal */ get_inertia(): number;
+    /** @internal */ get_angDrag(): number;
+    /** @internal */ get_material(): Material;
+    /** @internal */ set_material(v: Material): void;
+    /** @internal */ get_filter(): InteractionFilter;
+    /** @internal */ set_filter(v: InteractionFilter): void;
+    /** @internal */ get_fluidProperties(): FluidProperties;
+    /** @internal */ set_fluidProperties(v: FluidProperties): void;
+    /** @internal */ get_fluidEnabled(): boolean;
+    /** @internal */ set_fluidEnabled(v: boolean): void;
+    /** @internal */ get_sensorEnabled(): boolean;
+    /** @internal */ set_sensorEnabled(v: boolean): void;
+    /** @internal */ get_bounds(): AABB;
+    /** Setup worldCOM lazy Vec2 wrapper */
+    private _setupWorldCOM;
+}
+/** Lightweight typed interface for the callback type set on a shape. */
+interface CbTypeSet {
+    readonly _inner: NapeInner;
+    add(cbType: {
+        _inner: NapeInner;
+    }): void;
+    remove(cbType: {
+        _inner: NapeInner;
+    }): void;
+    has(cbType: {
+        _inner: NapeInner;
+    }): boolean;
     clear(): void;
-    shapes_adder(s: Any$G): boolean;
-    shapes_subber(s: Any$G): void;
-    shapes_invalidate(_param: Any$G): void;
-    shapes_modifiable(): void;
-    addedToSpace(): void;
-    removedFromSpace(): void;
-    private _removeArbiterFromList;
-    copy(): Any$G;
-    wake: () => void;
-    __iaddedToSpace: () => void;
-    __iremovedFromSpace: () => void;
-    immutable_midstep: (name: string) => void;
-    copyto: (ret: Any$G) => void;
-    insert_cbtype: (cb: Any$G) => void;
-    alloc_cbSet: () => void;
-    dealloc_cbSet: () => void;
-    setupcbTypes: () => void;
-    immutable_cbTypes: () => void;
-    wrap_cbTypes_subber: (pcb: Any$G) => void;
-    wrap_cbTypes_adder: (cb: Any$G) => void;
-    setGroup: (group: Any$G) => void;
-    lookup_group: () => Any$G;
-    getSpace: () => Any$G;
-    isShape: () => boolean;
-    isBody: () => boolean;
-    isCompound: () => boolean;
-    static _initialized: boolean;
-    static _init(zpp: Any$G, nape: Any$G): void;
+    readonly length: number;
 }
 
-type Any$F = any;
 /**
- * A rigid body in the physics simulation.
+ * Static utility class for geometric queries between shapes and bodies.
  *
- * Fully modernized — all methods implemented directly using ZPP_Body.
+ * Fully modernized — calls ZPP_Geom, ZPP_SweepDistance, and ZPP_Collide directly.
  */
-declare class Body extends Interactor {
+declare class Geom {
     static __name__: string[];
-    static __super__: Any$F;
-    /** Direct access to the extracted internal ZPP_Body. */
-    zpp_inner: ZPP_Body;
-    debugDraw: boolean;
-    constructor(type?: BodyType, position?: Vec2);
-    /** @internal */
-    static _wrap(inner: NapeInner): Body;
-    get type(): BodyType;
-    set type(value: BodyType);
-    isStatic(): boolean;
-    isDynamic(): boolean;
-    isKinematic(): boolean;
-    get position(): Vec2;
-    set position(value: Vec2);
-    get rotation(): number;
-    set rotation(value: number);
-    get velocity(): Vec2;
-    set velocity(value: Vec2);
-    get angularVel(): number;
-    set angularVel(value: number);
-    get kinematicVel(): Vec2;
-    set kinematicVel(value: Vec2);
-    get kinAngVel(): number;
-    set kinAngVel(value: number);
-    get surfaceVel(): Vec2;
-    set surfaceVel(value: Vec2);
-    get force(): Vec2;
-    set force(value: Vec2);
-    get torque(): number;
-    set torque(value: number);
-    get mass(): number;
-    set mass(value: number);
-    get inertia(): number;
-    set inertia(value: number);
-    get constraintMass(): number;
-    get constraintInertia(): number;
-    get gravMass(): number;
-    set gravMass(value: number);
-    get gravMassScale(): number;
-    set gravMassScale(value: number);
-    get isBullet(): boolean;
-    set isBullet(value: boolean);
-    get disableCCD(): boolean;
-    set disableCCD(value: boolean);
-    get allowMovement(): boolean;
-    set allowMovement(value: boolean);
-    get allowRotation(): boolean;
-    set allowRotation(value: boolean);
-    get isSleeping(): boolean;
-    get shapes(): NapeList<Shape>;
-    get space(): Space;
-    set space(value: Space | null);
-    get compound(): Any$F;
-    set compound(value: Any$F);
-    get bounds(): AABB;
-    get constraintVelocity(): Vec2;
-    get localCOM(): Vec2;
-    get worldCOM(): Vec2;
-    get massMode(): Any$F;
-    set massMode(value: Any$F);
-    get inertiaMode(): Any$F;
-    set inertiaMode(value: Any$F);
-    get gravMassMode(): Any$F;
-    set gravMassMode(value: Any$F);
-    copy(): Body;
-    toString(): string;
-    get_type(): Any$F;
-    set_type(type: Any$F): Any$F;
-    get_shapes(): Any$F;
-    get_isBullet(): boolean;
-    set_isBullet(v: boolean): boolean;
-    get_disableCCD(): boolean;
-    set_disableCCD(v: boolean): boolean;
-    get_position(): Any$F;
-    set_position(position: Any$F): Any$F;
-    get_velocity(): Any$F;
-    set_velocity(velocity: Any$F): Any$F;
-    get_rotation(): number;
-    set_rotation(rotation: number): number;
-    get_angularVel(): number;
-    set_angularVel(angularVel: number): number;
-    get_kinematicVel(): Any$F;
-    set_kinematicVel(kinematicVel: Any$F): Any$F;
-    get_kinAngVel(): number;
-    set_kinAngVel(kinAngVel: number): number;
-    get_surfaceVel(): Any$F;
-    set_surfaceVel(surfaceVel: Any$F): Any$F;
-    get_force(): Any$F;
-    set_force(force: Any$F): Any$F;
-    get_torque(): number;
-    set_torque(torque: number): number;
-    get_bounds(): Any$F;
-    get_constraintVelocity(): Any$F;
-    get_constraintMass(): number;
-    get_constraintInertia(): number;
-    get_allowMovement(): boolean;
-    set_allowMovement(allowMovement: boolean): boolean;
-    get_allowRotation(): boolean;
-    set_allowRotation(allowRotation: boolean): boolean;
-    get_isSleeping(): boolean;
-    get_compound(): Any$F;
-    set_compound(compound: Any$F): Any$F;
-    get_space(): Any$F;
-    set_space(space: Any$F): Any$F;
-    get_arbiters(): Any$F;
-    get_constraints(): Any$F;
-    get_massMode(): Any$F;
-    set_massMode(massMode: Any$F): Any$F;
-    get_mass(): number;
-    set_mass(mass: number): number;
-    get_gravMassMode(): Any$F;
-    set_gravMassMode(gravMassMode: Any$F): Any$F;
-    get_gravMass(): number;
-    set_gravMass(gravMass: number): number;
-    get_gravMassScale(): number;
-    set_gravMassScale(gravMassScale: number): number;
-    get_inertiaMode(): Any$F;
-    set_inertiaMode(inertiaMode: Any$F): Any$F;
-    get_inertia(): number;
-    set_inertia(inertia: number): number;
-    get_localCOM(): Any$F;
-    get_worldCOM(): Any$F;
-    integrate(deltaTime: number): Body;
-    localPointToWorld(point: Vec2, weak?: boolean): Vec2;
-    worldPointToLocal(point: Vec2, weak?: boolean): Vec2;
-    localVectorToWorld(vector: Vec2, weak?: boolean): Vec2;
-    worldVectorToLocal(vector: Vec2, weak?: boolean): Vec2;
-    applyImpulse(impulse: Vec2, pos?: Vec2, sleepable?: boolean): Body;
-    applyAngularImpulse(impulse: number, sleepable?: boolean): Body;
-    setVelocityFromTarget(targetPosition: Vec2, targetRotation: number, deltaTime: number): Body;
-    translateShapes(translation: Vec2): Body;
-    rotateShapes(angle: number): Body;
-    scaleShapes(scaleX: number, scaleY: number): Body;
-    transformShapes(matrix: Any$F): Body;
-    align(): Body;
-    rotate(centre: Vec2, angle: number): Body;
-    setShapeMaterials(material: Any$F): Body;
-    setShapeFilters(filter: Any$F): Body;
-    setShapeFluidProperties(fluidProperties: Any$F): Body;
-    contains(point: Vec2): boolean;
-    connectedBodies(depth?: number, output?: Any$F): Any$F;
-    interactingBodies(type?: Any$F, depth?: number, output?: Any$F): Any$F;
-    normalImpulse(body?: Any$F, freshOnly?: boolean): Vec3;
-    tangentImpulse(body?: Any$F, freshOnly?: boolean): Vec3;
-    totalContactsImpulse(body?: Any$F, freshOnly?: boolean): Vec3;
-    rollingImpulse(body?: Any$F, freshOnly?: boolean): number;
-    buoyancyImpulse(body?: Any$F): Vec3;
-    dragImpulse(body?: Any$F): Vec3;
-    totalFluidImpulse(body?: Any$F): Vec3;
-    constraintsImpulse(): Vec3;
-    totalImpulse(body?: Any$F, freshOnly?: boolean): Vec3;
-    crushFactor(): number;
-    private _arbiterImpulseQuery;
+    /**
+     * Calculate minimum distance between two bodies and return closest points.
+     */
+    static distanceBody(body1: Body, body2: Body, out1: Vec2, out2: Vec2): number;
+    /**
+     * Calculate minimum distance between two shapes and return closest points.
+     */
+    static distance(shape1: Shape, shape2: Shape, out1: Vec2, out2: Vec2): number;
+    /**
+     * Test if two bodies intersect (any of their shapes overlap).
+     */
+    static intersectsBody(body1: Body, body2: Body): boolean;
+    /**
+     * Test if two shapes intersect.
+     */
+    static intersects(shape1: Shape, shape2: Shape): boolean;
+    /**
+     * Test if shape1 fully contains shape2.
+     */
+    static contains(shape1: Shape, shape2: Shape): boolean;
 }
 
 /**
@@ -2229,77 +2364,77 @@ declare class Body extends Interactor {
  *
  * Converted from nape-compiled.js lines 55195–55521.
  */
-type Any$E = any;
+type Any$I = any;
 declare class ZPP_Compound {
     static __name__: string[];
-    static __super__: Any$E;
+    static __super__: Any$I;
     /**
      * Namespace references, set by the compiled module after import.
      * _nape = the `nape` public namespace (for wrapper creation in copy())
      * _zpp = the `zpp_nape` internal namespace (for ZNPList_*, ZPP_BodyList, etc.)
      */
-    static _nape: Any$E;
-    static _zpp: Any$E;
+    static _nape: Any$I;
+    static _zpp: Any$I;
     /**
      * Wrapper factory callback, registered by the modernized Compound class.
      * When set, wrapper() uses this instead of the compiled Compound constructor.
      */
-    static _wrapFn: ((zpp: ZPP_Compound) => Any$E) | null;
-    outer_i: Any$E;
+    static _wrapFn: ((zpp: ZPP_Compound) => Any$I) | null;
+    outer_i: Any$I;
     id: number;
-    userData: Any$E;
-    ishape: Any$E;
-    ibody: Any$E;
-    icompound: Any$E;
-    wrap_cbTypes: Any$E;
-    cbSet: Any$E;
-    cbTypes: Any$E;
-    group: Any$E;
-    cbsets: Any$E;
-    outer: Any$E;
-    bodies: Any$E;
-    constraints: Any$E;
-    compounds: Any$E;
-    wrap_bodies: Any$E;
-    wrap_constraints: Any$E;
-    wrap_compounds: Any$E;
+    userData: Any$I;
+    ishape: Any$I;
+    ibody: Any$I;
+    icompound: Any$I;
+    wrap_cbTypes: Any$I;
+    cbSet: Any$I;
+    cbTypes: Any$I;
+    group: Any$I;
+    cbsets: Any$I;
+    outer: Any$I;
+    bodies: Any$I;
+    constraints: Any$I;
+    compounds: Any$I;
+    wrap_bodies: Any$I;
+    wrap_constraints: Any$I;
+    wrap_compounds: Any$I;
     depth: number;
-    compound: Any$E;
-    space: Any$E;
-    __class__: Any$E;
+    compound: Any$I;
+    space: Any$I;
+    __class__: Any$I;
     constructor();
     __imutable_midstep(name: string): void;
     addedToSpace(): void;
     removedFromSpace(): void;
     breakApart(): void;
     private static _zppOf;
-    bodies_adder(x: Any$E): boolean;
-    bodies_subber(x: Any$E): void;
+    bodies_adder(x: Any$I): boolean;
+    bodies_subber(x: Any$I): void;
     bodies_modifiable(): void;
-    constraints_adder(x: Any$E): boolean;
-    constraints_subber(x: Any$E): void;
+    constraints_adder(x: Any$I): boolean;
+    constraints_subber(x: Any$I): void;
     constraints_modifiable(): void;
-    compounds_adder(x: Any$E): boolean;
-    compounds_subber(x: Any$E): void;
+    compounds_adder(x: Any$I): boolean;
+    compounds_subber(x: Any$I): void;
     compounds_modifiable(): void;
-    copy(dict?: Any$E[], todo?: Any$E[]): Any$E;
+    copy(dict?: Any$I[], todo?: Any$I[]): Any$I;
     isShape: () => boolean;
     isBody: () => boolean;
     isCompound: () => boolean;
     __iaddedToSpace: () => void;
     __iremovedFromSpace: () => void;
     wake: () => void;
-    getSpace: () => Any$E;
+    getSpace: () => Any$I;
     setupcbTypes: () => void;
     immutable_cbTypes: () => void;
-    wrap_cbTypes_subber: (pcb: Any$E) => void;
-    wrap_cbTypes_adder: (cb: Any$E) => boolean;
-    insert_cbtype: (cb: Any$E) => void;
+    wrap_cbTypes_subber: (pcb: Any$I) => void;
+    wrap_cbTypes_adder: (cb: Any$I) => boolean;
+    insert_cbtype: (cb: Any$I) => void;
     alloc_cbSet: () => void;
     dealloc_cbSet: () => void;
     immutable_midstep: (name: string) => void;
-    copyto: (ret: Any$E) => void;
-    lookup_group: () => Any$E;
+    copyto: (ret: Any$I) => void;
+    lookup_group: () => Any$I;
     /**
      * Initialize prototype by copying ZPP_Interactor methods.
      * Must be called after _zpp is set (during compiled module init).
@@ -2307,7 +2442,7 @@ declare class ZPP_Compound {
     static _init(): void;
 }
 
-type Any$D = any;
+type Any$H = any;
 /**
  * A compound physics object — a hierarchical grouping of Bodies, Constraints,
  * and other Compounds.
@@ -2316,18 +2451,18 @@ type Any$D = any;
  */
 declare class Compound extends Interactor {
     static __name__: string[];
-    static __super__: Any$D;
+    static __super__: Any$H;
     /** Direct access to the extracted internal ZPP_Compound. */
     zpp_inner: ZPP_Compound;
     constructor();
     /** @internal */
     static _wrap(inner: NapeInner): Compound;
     /** Bodies in this compound. */
-    get bodies(): Any$D;
+    get bodies(): Any$H;
     /** Constraints in this compound. */
-    get constraints(): Any$D;
+    get constraints(): Any$H;
     /** Child compounds in this compound. */
-    get compounds(): Any$D;
+    get compounds(): Any$H;
     /** Parent compound, or null if this is a root compound. */
     get compound(): Compound | null;
     set compound(value: Compound | null);
@@ -2341,7 +2476,7 @@ declare class Compound extends Interactor {
     /** Recursively visit all bodies in this compound and its sub-compounds. */
     visitBodies(lambda: (body: Body) => void): void;
     /** Recursively visit all constraints in this compound and its sub-compounds. */
-    visitConstraints(lambda: (constraint: Any$D) => void): void;
+    visitConstraints(lambda: (constraint: Any$H) => void): void;
     /** Recursively visit all sub-compounds in this compound. */
     visitCompounds(lambda: (compound: Compound) => void): void;
     /** Calculate the center of mass of all bodies in this compound. */
@@ -2351,13 +2486,13 @@ declare class Compound extends Interactor {
     /** Rotate all bodies in this compound around the given centre point. */
     rotate(centre: Vec2, angle: number): Compound;
     toString(): string;
-    get_bodies(): Any$D;
-    get_constraints(): Any$D;
-    get_compounds(): Any$D;
-    get_compound(): Any$D;
-    set_compound(compound: Any$D): Any$D;
-    get_space(): Any$D;
-    set_space(space: Any$D): Any$D;
+    get_bodies(): Any$H;
+    get_constraints(): Any$H;
+    get_compounds(): Any$H;
+    get_compound(): Any$H;
+    set_compound(compound: Any$H): Any$H;
+    get_space(): Any$H;
+    set_space(space: Any$H): Any$H;
 }
 
 /**
@@ -2425,21 +2560,21 @@ declare class MassMode {
  *
  * Converted from nape-compiled.js lines 41496–41827.
  */
-type Any$C = any;
+type Any$G = any;
 declare class ZPP_Circle {
     static __name__: string[];
-    static __super__: Any$C;
-    static _nape: Any$C;
-    static _zpp: Any$C;
+    static __super__: Any$G;
+    static _nape: Any$G;
+    static _zpp: Any$G;
     static _initialized: boolean;
     radius: number;
-    outer_zn: Any$C;
-    __class__: Any$C;
-    body: Any$C;
+    outer_zn: Any$G;
+    __class__: Any$G;
+    body: Any$G;
     type: number;
-    circle: Any$C;
-    polygon: Any$C;
-    aabb: Any$C;
+    circle: Any$G;
+    polygon: Any$G;
+    aabb: Any$G;
     localCOMx: number;
     localCOMy: number;
     worldCOMx: number;
@@ -2453,25 +2588,25 @@ declare class ZPP_Circle {
     angDrag: number;
     sweepCoef: number;
     sweepRadius: number;
-    material: Any$C;
-    filter: Any$C;
-    wrap_localCOM: Any$C;
-    outer: Any$C;
-    outer_i: Any$C;
-    space: Any$C;
+    material: Any$G;
+    filter: Any$G;
+    wrap_localCOM: Any$G;
+    outer: Any$G;
+    outer_i: Any$G;
+    space: Any$G;
     invalidate_area_inertia: () => void;
     invalidate_angDrag: () => void;
     invalidate_localCOM: () => void;
     immutable_midstep: (name: string) => void;
-    setMaterial: (mat: Any$C) => void;
-    setFilter: (filt: Any$C) => void;
-    insert_cbtype: (cb: Any$C) => void;
+    setMaterial: (mat: Any$G) => void;
+    setFilter: (filt: Any$G) => void;
+    insert_cbtype: (cb: Any$G) => void;
     constructor();
     static _init(): void;
     __clear(): void;
     invalidate_radius(): void;
     localCOM_validate(): void;
-    localCOM_invalidate(x: Any$C): void;
+    localCOM_invalidate(x: Any$G): void;
     localCOM_immutable(): void;
     setupLocalCOM(): void;
     __validate_aabb(): void;
@@ -2482,11 +2617,11 @@ declare class ZPP_Circle {
     __scale(sx: number, sy: number): void;
     __translate(x: number, y: number): void;
     __rotate(x: number, y: number): void;
-    __transform(m: Any$C): void;
-    __copy(): Any$C;
+    __transform(m: Any$G): void;
+    __copy(): Any$G;
 }
 
-type Any$B = any;
+type Any$F = any;
 /**
  * A circular physics shape.
  *
@@ -2496,7 +2631,7 @@ type Any$B = any;
  */
 declare class Circle extends Shape {
     static __name__: string[];
-    static __super__: Any$B;
+    static __super__: Any$F;
     /** Direct access to the extracted internal ZPP_Circle. */
     zpp_inner_zn: ZPP_Circle;
     constructor(radius?: number, localCOM?: Vec2, material?: Material, filter?: InteractionFilter);
@@ -2506,26 +2641,152 @@ declare class Circle extends Shape {
     set radius(value: number);
 }
 
+/**
+ * ZPP_Polygon — Internal polygon shape for the nape physics engine.
+ *
+ * Extends ZPP_Shape (type=1). Manages vertex rings (local/world),
+ * edge lists, validation, and polygon-specific physics calculations.
+ *
+ * Converted from nape-compiled.js lines 42176–43786.
+ */
+type Any$E = any;
+declare class ZPP_Polygon {
+    static __name__: string[];
+    static __super__: Any$E;
+    static _nape: Any$E;
+    static _zpp: Any$E;
+    static _initialized: boolean;
+    outer_zn: Any$E;
+    lverts: Any$E;
+    wrap_lverts: Any$E;
+    gverts: Any$E;
+    wrap_gverts: Any$E;
+    edges: Any$E;
+    wrap_edges: Any$E;
+    edgeCnt: number;
+    reverse_flag: boolean;
+    zip_lverts: boolean;
+    zip_laxi: boolean;
+    zip_gverts: boolean;
+    zip_gaxi: boolean;
+    zip_valid: boolean;
+    zip_sanitation: boolean;
+    validation: Any$E;
+    __class__: Any$E;
+    body: Any$E;
+    type: number;
+    circle: Any$E;
+    polygon: Any$E;
+    aabb: Any$E;
+    localCOMx: number;
+    localCOMy: number;
+    worldCOMx: number;
+    worldCOMy: number;
+    zip_localCOM: boolean;
+    zip_worldCOM: boolean;
+    zip_aabb: boolean;
+    zip_sweepRadius: boolean;
+    zip_area_inertia: boolean;
+    zip_angDrag: boolean;
+    area: number;
+    inertia: number;
+    angDrag: number;
+    sweepCoef: number;
+    sweepRadius: number;
+    material: Any$E;
+    filter: Any$E;
+    wrap_localCOM: Any$E;
+    outer: Any$E;
+    outer_i: Any$E;
+    invalidate_area_inertia: () => void;
+    invalidate_angDrag: () => void;
+    invalidate_localCOM: () => void;
+    invalidate_worldCOM: () => void;
+    validate_area_inertia: () => void;
+    validate_localCOM: () => void;
+    immutable_midstep: (name: string) => void;
+    wake: () => void;
+    setMaterial: (m: Any$E) => void;
+    setFilter: (f: Any$E) => void;
+    insert_cbtype: (cb: Any$E) => void;
+    constructor();
+    static _init(): void;
+    __clear(): void;
+    lverts_pa_invalidate(_x: Any$E): void;
+    lverts_pa_immutable(): void;
+    gverts_pa_validate(): void;
+    lverts_post_adder(x: Any$E): void;
+    lverts_subber(x: Any$E): void;
+    lverts_invalidate(_: Any$E): void;
+    lverts_validate(): void;
+    lverts_modifiable(): void;
+    gverts_validate(): void;
+    edges_validate(): void;
+    getlverts(): void;
+    getgverts(): void;
+    getedges(): void;
+    invalidate_lverts(): void;
+    invalidate_laxi(): void;
+    invalidate_gverts(): void;
+    invalidate_gaxi(): void;
+    validate_lverts(): void;
+    validate_laxi(): void;
+    validate_gverts(): void;
+    validate_gaxi(): void;
+    /** Internal helper: recompute world vertex positions from local verts + body transform */
+    private _validateGverts;
+    cleanup_lvert(x: Any$E): void;
+    splice_collinear(): void;
+    splice_collinear_real(): void;
+    reverse_vertices(): void;
+    valid(): Any$E;
+    /** Helper: check if two edges (u1→v1) and (a→b) do NOT intersect */
+    private _checkNoIntersection;
+    __validate_aabb(): void;
+    _force_validate_aabb(): void;
+    __validate_sweepRadius(): void;
+    __validate_area_inertia(): void;
+    __validate_angDrag(): void;
+    __validate_localCOM(): void;
+    localCOM_validate(): void;
+    localCOM_invalidate(x: Any$E): void;
+    setupLocalCOM(): void;
+    __translate(dx: number, dy: number): void;
+    __scale(sx: number, sy: number): void;
+    __rotate(ax: number, ay: number): void;
+    __transform(mat: Any$E): void;
+    __copy(): Any$E;
+}
+
+type Any$D = any;
 /**
  * A convex polygon physics shape.
  *
+ * Fully modernized — uses ZPP_Polygon directly (extracted to TypeScript).
  * Use the static helper methods (`box`, `rect`, `regular`) for common shapes.
  */
 declare class Polygon extends Shape {
-    constructor(vertices?: Vec2[] | NapeInner, material?: Material, filter?: InteractionFilter);
+    static __name__: string[];
+    static __super__: Any$D;
+    /** Direct access to the extracted internal ZPP_Polygon. */
+    zpp_inner_zn: ZPP_Polygon;
+    constructor(localVerts?: Vec2[] | Any$D, material?: Material, filter?: InteractionFilter);
     /** @internal */
     static _wrap(inner: NapeInner): Polygon;
-    static box(width: number, height: number, weak?: boolean): NapeInner;
-    static rect(x: number, y: number, width: number, height: number, weak?: boolean): NapeInner;
-    static regular(xRadius: number, yRadius: number, sides: number, angle?: number, weak?: boolean): NapeInner;
+    static rect(x: number, y: number, width: number, height: number, weak?: boolean): Vec2[];
+    static box(width: number, height?: number, weak?: boolean): Vec2[];
+    static regular(xRadius: number, yRadius: number, edgeCount: number, angleOffset?: number, weak?: boolean): Vec2[];
     /** Read-only list of local-space vertices. */
-    get localVerts(): NapeInner;
+    get localVerts(): Any$D;
     /** Read-only list of world-space vertices (computed after stepping). */
-    get worldVerts(): NapeInner;
+    get worldVerts(): Any$D;
     /** Read-only edge list. */
-    get edges(): NapeInner;
+    get edges(): Any$D;
     /** Validate the polygon geometry. */
-    validity(): NapeInner;
+    validity(): Any$D;
+    /** @internal */ get_localVerts(): Any$D;
+    /** @internal */ get_worldVerts(): Any$D;
+    /** @internal */ get_edges(): Any$D;
 }
 
 /**
@@ -2536,44 +2797,44 @@ declare class Polygon extends Shape {
  *
  * Converted from nape-compiled.js lines 41828–42175.
  */
-type Any$A = any;
+type Any$C = any;
 declare class ZPP_Edge {
     static __name__: string[];
     static zpp_pool: ZPP_Edge | null;
     static internal: boolean;
-    static _nape: Any$A;
-    static _zpp: Any$A;
-    static _wrapFn: ((zpp: ZPP_Edge) => Any$A) | null;
+    static _nape: Any$C;
+    static _zpp: Any$C;
+    static _wrapFn: ((zpp: ZPP_Edge) => Any$C) | null;
     next: ZPP_Edge | null;
-    polygon: Any$A;
-    outer: Any$A;
+    polygon: Any$C;
+    outer: Any$C;
     lnormx: number;
     lnormy: number;
-    wrap_lnorm: Any$A;
+    wrap_lnorm: Any$C;
     gnormx: number;
     gnormy: number;
-    wrap_gnorm: Any$A;
+    wrap_gnorm: Any$C;
     length: number;
     lprojection: number;
     gprojection: number;
-    lp0: Any$A;
-    gp0: Any$A;
-    lp1: Any$A;
-    gp1: Any$A;
+    lp0: Any$C;
+    gp0: Any$C;
+    lp1: Any$C;
+    gp1: Any$C;
     tp0: number;
     tp1: number;
-    __class__: Any$A;
+    __class__: Any$C;
     constructor();
     free(): void;
     alloc(): void;
-    wrapper(): Any$A;
+    wrapper(): Any$C;
     lnorm_validate(): void;
     gnorm_validate(): void;
     getlnorm(): void;
     getgnorm(): void;
 }
 
-type Any$z = any;
+type Any$B = any;
 /**
  * An edge of a polygon shape.
  *
@@ -2588,9 +2849,9 @@ declare class Edge {
     zpp_inner: ZPP_Edge;
     constructor();
     /** @internal */
-    static _wrap(inner: Any$z): Edge;
+    static _wrap(inner: Any$B): Edge;
     /** Parent polygon (as compiled Polygon wrapper). */
-    get polygon(): Any$z;
+    get polygon(): Any$B;
     /** Local-space normal vector (immutable Vec2). */
     get localNormal(): Vec2;
     /** World-space normal vector (immutable Vec2). Requires polygon in a body. */
@@ -2689,17 +2950,17 @@ declare class ArbiterType {
  *
  * Converted from nape-compiled.js lines 29044–29362, 80738–80766.
  */
-type Any$y = any;
+type Any$A = any;
 declare class ZPP_Arbiter {
     static __name__: string[];
-    static _nape: Any$y;
-    static _zpp: Any$y;
+    static _nape: Any$A;
+    static _zpp: Any$A;
     static internal: boolean;
     static COL: number;
     static FLUID: number;
     static SENSOR: number;
-    static types: Any$y[];
-    outer: Any$y;
+    static types: Any$A[];
+    outer: Any$A;
     hnext: ZPP_Arbiter | null;
     id: number;
     di: number;
@@ -2717,31 +2978,31 @@ declare class ZPP_Arbiter {
     fresh: boolean;
     immState: number;
     invalidated: boolean;
-    b1: Any$y;
-    b2: Any$y;
-    ws1: Any$y;
-    ws2: Any$y;
-    pair: Any$y;
+    b1: Any$A;
+    b2: Any$A;
+    ws1: Any$A;
+    ws2: Any$A;
+    pair: Any$A;
     type: number;
-    colarb: Any$y;
-    fluidarb: Any$y;
-    sensorarb: Any$y;
-    __class__: Any$y;
+    colarb: Any$A;
+    fluidarb: Any$A;
+    sensorarb: Any$A;
+    __class__: Any$A;
     constructor();
-    wrapper(): Any$y;
+    wrapper(): Any$A;
     inactiveme(): boolean;
     acting(): boolean;
     swap_features(): void;
-    lazyRetire(s: Any$y, b: Any$y): void;
-    sup_assign(s1: Any$y, s2: Any$y, id: number, di: number): void;
+    lazyRetire(s: Any$A, b: Any$A): void;
+    sup_assign(s1: Any$A, s2: Any$A, id: number, di: number): void;
     sup_retire(): void;
     /** Remove this arbiter from a ZNPList_ZPP_Arbiter */
-    static _removeFromArbiterList(list: Any$y, arb: ZPP_Arbiter, zpp: Any$y): void;
+    static _removeFromArbiterList(list: Any$A, arb: ZPP_Arbiter, zpp: Any$A): void;
     /** Add this arbiter to a ZNPList_ZPP_Arbiter */
-    static _addToArbiterList(list: Any$y, arb: ZPP_Arbiter, zpp: Any$y): void;
+    static _addToArbiterList(list: Any$A, arb: ZPP_Arbiter, zpp: Any$A): void;
 }
 
-type Any$x = any;
+type Any$z = any;
 /**
  * Represents an interaction arbiter between two shapes.
  *
@@ -2760,21 +3021,21 @@ declare class Arbiter {
     /** Whether this arbiter is currently sleeping. */
     get isSleeping(): boolean;
     /** The type of this arbiter (COLLISION, SENSOR, or FLUID). */
-    get type(): Any$x;
+    get type(): Any$z;
     /** Cast to CollisionArbiter if this is a collision, else null. */
-    get collisionArbiter(): Any$x;
+    get collisionArbiter(): Any$z;
     /** Cast to FluidArbiter if this is a fluid interaction, else null. */
-    get fluidArbiter(): Any$x;
+    get fluidArbiter(): Any$z;
     /** First shape (lower id). */
-    get shape1(): Any$x;
+    get shape1(): Any$z;
     /** Second shape (higher id). */
-    get shape2(): Any$x;
+    get shape2(): Any$z;
     /** Body of shape1. */
-    get body1(): Any$x;
+    get body1(): Any$z;
     /** Body of shape2. */
-    get body2(): Any$x;
+    get body2(): Any$z;
     /** The pre-handler state of this arbiter. */
-    get state(): Any$x;
+    get state(): Any$z;
     /** Whether this is a collision arbiter. */
     isCollisionArbiter(): boolean;
     /** Whether this is a fluid arbiter. */
@@ -2785,15 +3046,15 @@ declare class Arbiter {
      * Total impulse of this arbiter. Base implementation returns Vec3(0,0,0).
      * Overridden by CollisionArbiter and FluidArbiter.
      */
-    totalImpulse(body?: Any$x, _freshOnly?: boolean): Vec3;
+    totalImpulse(body?: Any$z, _freshOnly?: boolean): Vec3;
     toString(): string;
     /** @internal */
     protected _activeCheck(): void;
     /** @internal */
-    protected _checkBody(body: Any$x): void;
+    protected _checkBody(body: Any$z): void;
 }
 
-type Any$w = any;
+type Any$y = any;
 /**
  * A collision arbiter between two shapes in contact.
  *
@@ -2807,15 +3068,15 @@ declare class CollisionArbiter extends Arbiter {
     static __super__: typeof Arbiter;
     constructor();
     /** Contact points for this collision. */
-    get contacts(): Any$w;
+    get contacts(): Any$y;
     /** Collision normal vector. */
-    get normal(): Any$w;
+    get normal(): Any$y;
     /** Sum of the radii of the two shapes at the collision point. */
     get radius(): number;
     /** Reference edge of shape1 (if polygon), or null. */
-    get referenceEdge1(): Any$w;
+    get referenceEdge1(): Any$y;
     /** Reference edge of shape2 (if polygon), or null. */
-    get referenceEdge2(): Any$w;
+    get referenceEdge2(): Any$y;
     /** Coefficient of restitution (elasticity). Mutable in pre-handler only. */
     get elasticity(): number;
     set elasticity(value: number);
@@ -2833,20 +3094,20 @@ declare class CollisionArbiter extends Arbiter {
     /** Whether the second contact point lies on a polygon vertex (poly-circle only). */
     secondVertex(): boolean;
     /** Normal impulse accumulated across all contacts. */
-    normalImpulse(body?: Any$w, freshOnly?: boolean): Vec3;
+    normalImpulse(body?: Any$y, freshOnly?: boolean): Vec3;
     /** Tangent (friction) impulse accumulated across all contacts. */
-    tangentImpulse(body?: Any$w, freshOnly?: boolean): Vec3;
+    tangentImpulse(body?: Any$y, freshOnly?: boolean): Vec3;
     /** Total impulse (normal + tangent + rolling) accumulated across all contacts. */
-    totalImpulse(body?: Any$w, freshOnly?: boolean): Vec3;
+    totalImpulse(body?: Any$y, freshOnly?: boolean): Vec3;
     /** Rolling impulse for this collision. */
-    rollingImpulse(body?: Any$w, freshOnly?: boolean): number;
+    rollingImpulse(body?: Any$y, freshOnly?: boolean): number;
     /** @internal Throw if not in pre-handler mutable window. */
     private _mutableCheck;
     /** @internal Accumulate impulse from contacts. */
     private _accumulateImpulse;
 }
 
-type Any$v = any;
+type Any$x = any;
 /**
  * A fluid arbiter between two shapes with fluid interaction.
  *
@@ -2866,14 +3127,14 @@ declare class FluidArbiter extends Arbiter {
     get overlap(): number;
     set overlap(value: number);
     /** Buoyancy impulse applied by this fluid arbiter. */
-    buoyancyImpulse(body?: Any$v): Vec3;
+    buoyancyImpulse(body?: Any$x): Vec3;
     /** Drag impulse applied by this fluid arbiter. */
-    dragImpulse(body?: Any$v): Vec3;
+    dragImpulse(body?: Any$x): Vec3;
     /** Total impulse (buoyancy + drag). */
-    totalImpulse(body?: Any$v, _freshOnly?: boolean): Vec3;
+    totalImpulse(body?: Any$x, _freshOnly?: boolean): Vec3;
 }
 
-type Any$u = any;
+type Any$w = any;
 /**
  * Represents a contact point between two colliding shapes.
  *
@@ -2890,7 +3151,7 @@ declare class Contact {
     get _inner(): NapeInner;
     constructor();
     /** The collision arbiter this contact belongs to, or null. */
-    get arbiter(): Any$u;
+    get arbiter(): Any$w;
     /** Penetration depth of this contact (positive = overlapping). */
     get penetration(): number;
     /** World-space position of this contact point. */
@@ -2904,30 +3165,63 @@ declare class Contact {
      * @param body - If null, returns world-frame impulse. Otherwise returns
      *               impulse on the given body (must be one of the two in contact).
      */
-    normalImpulse(body?: Any$u): Vec3;
+    normalImpulse(body?: Any$w): Vec3;
     /**
      * Tangent impulse at this contact point.
      * @param body - If null, returns world-frame impulse. Otherwise returns
      *               impulse on the given body.
      */
-    tangentImpulse(body?: Any$u): Vec3;
+    tangentImpulse(body?: Any$w): Vec3;
     /**
      * Rolling impulse at this contact point.
      * @param body - If null, returns total rolling impulse. Otherwise returns
      *               rolling impulse on the given body.
      */
-    rollingImpulse(body?: Any$u): number;
+    rollingImpulse(body?: Any$w): number;
     /**
      * Total impulse (normal + tangent + rolling) at this contact point.
      * @param body - If null, returns world-frame impulse. Otherwise returns
      *               impulse on the given body.
      */
-    totalImpulse(body?: Any$u): Vec3;
+    totalImpulse(body?: Any$w): Vec3;
+    toString(): string;
+    /** @internal */
+    private _inactiveCheck;
+    /** @internal */
+    private _checkBody;
+}
+
+/**
+ * Callback event types.
+ *
+ * - `BEGIN`   — interaction just started
+ * - `ONGOING` — interaction continues
+ * - `END`     — interaction just ended
+ * - `WAKE`    — body/constraint woke up
+ * - `SLEEP`   — body/constraint went to sleep
+ * - `BREAK`   — constraint was broken
+ * - `PRE`     — pre-interaction callback
+ *
+ * Converted from nape-compiled.js lines 516–657.
+ */
+declare class CbEvent {
+    static __name__: string[];
+    constructor();
+    static get BEGIN(): CbEvent;
+    static get ONGOING(): CbEvent;
+    static get END(): CbEvent;
+    static get WAKE(): CbEvent;
+    static get SLEEP(): CbEvent;
+    static get BREAK(): CbEvent;
+    static get PRE(): CbEvent;
+    static get_BEGIN(): CbEvent;
+    static get_ONGOING(): CbEvent;
+    static get_END(): CbEvent;
+    static get_WAKE(): CbEvent;
+    static get_SLEEP(): CbEvent;
+    static get_BREAK(): CbEvent;
+    static get_PRE(): CbEvent;
     toString(): string;
-    /** @internal */
-    private _inactiveCheck;
-    /** @internal */
-    private _checkBody;
 }
 
 /**
@@ -2939,41 +3233,41 @@ declare class Contact {
  *
  * Converted from nape-compiled.js lines 48256–48482.
  */
-type Any$t = any;
+type Any$v = any;
 declare class ZPP_CbType {
     static __name__: string[];
-    static _zpp: Any$t;
-    outer: Any$t;
-    userData: Any$t;
+    static _zpp: Any$v;
+    outer: Any$v;
+    userData: Any$v;
     id: number;
-    cbsets: Any$t;
-    interactors: Any$t;
-    wrap_interactors: Any$t;
-    constraints: Any$t;
-    wrap_constraints: Any$t;
-    listeners: Any$t;
-    bodylisteners: Any$t;
-    conlisteners: Any$t;
-    __class__: Any$t;
+    cbsets: Any$v;
+    interactors: Any$v;
+    wrap_interactors: Any$v;
+    constraints: Any$v;
+    wrap_constraints: Any$v;
+    listeners: Any$v;
+    bodylisteners: Any$v;
+    conlisteners: Any$v;
+    __class__: Any$v;
     constructor();
     /** Sort comparator by id. */
     static setlt(a: ZPP_CbType, b: ZPP_CbType): boolean;
-    addInteractor(intx: Any$t): void;
-    remInteractor(intx: Any$t): void;
-    addConstraint(con: Any$t): void;
-    remConstraint(con: Any$t): void;
-    addint(x: Any$t): void;
-    removeint(x: Any$t): void;
+    addInteractor(intx: Any$v): void;
+    remInteractor(intx: Any$v): void;
+    addConstraint(con: Any$v): void;
+    remConstraint(con: Any$v): void;
+    addint(x: Any$v): void;
+    removeint(x: Any$v): void;
     invalidateint(): void;
-    addbody(x: Any$t): void;
-    removebody(x: Any$t): void;
+    addbody(x: Any$v): void;
+    removebody(x: Any$v): void;
     invalidatebody(): void;
-    addconstraint(x: Any$t): void;
-    removeconstraint(x: Any$t): void;
+    addconstraint(x: Any$v): void;
+    removeconstraint(x: Any$v): void;
     invalidateconstraint(): void;
 }
 
-type Any$s = any;
+type Any$u = any;
 /**
  * Callback type — used to tag interactors so that listeners
  * can filter which interactions they respond to.
@@ -2994,11 +3288,11 @@ declare class CbType {
     static get_ANY_SHAPE(): CbType;
     static get_ANY_COMPOUND(): CbType;
     get id(): number;
-    get userData(): Any$s;
-    get interactors(): Any$s;
-    get constraints(): Any$s;
-    including(includes: Any$s): Any$s;
-    excluding(excludes: Any$s): Any$s;
+    get userData(): Any$u;
+    get interactors(): Any$u;
+    get constraints(): Any$u;
+    including(includes: Any$u): Any$u;
+    excluding(excludes: Any$u): Any$u;
     toString(): string;
     static _wrap(inner: any): CbType;
 }
@@ -3059,37 +3353,37 @@ declare class PreFlag {
  *
  * Converted from nape-compiled.js lines 51337–51655.
  */
-type Any$r = any;
+type Any$t = any;
 declare class ZPP_OptionType {
     static __name__: string[];
-    static _nape: Any$r;
-    static _zpp: Any$r;
-    outer: Any$r;
-    handler: ((val: Any$r, included: boolean, added: boolean) => void) | null;
-    includes: Any$r;
-    excludes: Any$r;
-    wrap_includes: Any$r;
-    wrap_excludes: Any$r;
-    __class__: Any$r;
+    static _nape: Any$t;
+    static _zpp: Any$t;
+    outer: Any$t;
+    handler: ((val: Any$t, included: boolean, added: boolean) => void) | null;
+    includes: Any$t;
+    excludes: Any$t;
+    wrap_includes: Any$t;
+    wrap_excludes: Any$t;
+    __class__: Any$t;
     constructor();
     /** Coerce a value to OptionType (null → new, OptionType → pass-through, CbType → including). */
-    static argument(val: Any$r): Any$r;
+    static argument(val: Any$t): Any$t;
     setup_includes(): void;
     setup_excludes(): void;
-    excluded(xs: Any$r): boolean;
-    included(xs: Any$r): boolean;
-    compatible(xs: Any$r): boolean;
+    excluded(xs: Any$t): boolean;
+    included(xs: Any$t): boolean;
+    compatible(xs: Any$t): boolean;
     /** Check whether two sorted-by-id lists share any element. */
-    nonemptyintersection(xs: Any$r, ys: Any$r): boolean;
+    nonemptyintersection(xs: Any$t, ys: Any$t): boolean;
     /** Insert into the ordered include or exclude list, using pool nodes. */
     private insertOrdered;
-    effect_change(val: Any$r, included: boolean, added: boolean): void;
-    append_type(list: Any$r, val: Any$r): void;
+    effect_change(val: Any$t, included: boolean, added: boolean): void;
+    append_type(list: Any$t, val: Any$t): void;
     set(options: ZPP_OptionType): this;
-    append(list: Any$r, val: Any$r): void;
+    append(list: Any$t, val: Any$t): void;
 }
 
-type Any$q = any;
+type Any$s = any;
 /**
  * Composite callback option type — allows including and excluding CbTypes.
  *
@@ -3099,17 +3393,103 @@ declare class OptionType {
     static __name__: string[];
     zpp_inner: ZPP_OptionType;
     get _inner(): NapeInner;
-    constructor(includes?: Any$q, excludes?: Any$q);
-    get includes(): Any$q;
-    get excludes(): Any$q;
-    get_includes(): Any$q;
-    get_excludes(): Any$q;
-    including(includes: Any$q): this;
-    excluding(excludes: Any$q): this;
+    constructor(includes?: Any$s, excludes?: Any$s);
+    get includes(): Any$s;
+    get excludes(): Any$s;
+    get_includes(): Any$s;
+    get_excludes(): Any$s;
+    including(includes: Any$s): this;
+    excluding(excludes: Any$s): this;
     toString(): string;
     static _wrap(inner: any): OptionType;
 }
 
+/**
+ * ZPP_Listener — Internal listener base class for the nape physics engine.
+ *
+ * Base class for ZPP_BodyListener, ZPP_ConstraintListener, and
+ * ZPP_InteractionListener. Holds common properties (space, precedence,
+ * event type, listener type) and provides stub methods for subclass override.
+ *
+ * Converted from nape-compiled.js lines 27259–27304, 112053–112139.
+ */
+type Any$r = any;
+declare class ZPP_Listener {
+    static __name__: string[];
+    static _nape: Any$r;
+    static _zpp: Any$r;
+    static internal: boolean;
+    static types: Any$r[];
+    static events: Any$r[];
+    space: Any$r;
+    interaction: Any$r;
+    constraint: Any$r;
+    body: Any$r;
+    precedence: number;
+    event: number;
+    type: number;
+    id: number;
+    outer: Any$r;
+    __class__: Any$r;
+    constructor();
+    /** Sort comparator: higher precedence first, then by id descending. */
+    static setlt(a: ZPP_Listener, b: ZPP_Listener): boolean;
+    swapEvent(_event?: number): void;
+    invalidate_precedence(): void;
+    addedToSpace(): void;
+    removedFromSpace(): void;
+}
+
+/**
+ * Listener type classification.
+ *
+ * - `BODY`        — body event listener
+ * - `CONSTRAINT`  — constraint event listener
+ * - `INTERACTION` — interaction event listener
+ * - `PRE`         — pre-interaction listener
+ *
+ * Converted from nape-compiled.js lines 2554–2646.
+ */
+declare class ListenerType {
+    static __name__: string[];
+    static BODY: ListenerType | null;
+    static CONSTRAINT: ListenerType | null;
+    static INTERACTION: ListenerType | null;
+    static PRE: ListenerType | null;
+    constructor();
+    static get_BODY(): ListenerType;
+    static get_CONSTRAINT(): ListenerType;
+    static get_INTERACTION(): ListenerType;
+    static get_PRE(): ListenerType;
+    toString(): string;
+}
+
+/**
+ * Listener — Base class for all physics event listeners.
+ *
+ * Provides common properties (type, event, precedence, space) and
+ * toString() for all listener subclasses.
+ *
+ * Fully modernized from nape-compiled.js lines 231–433.
+ */
+
+type Any$q = any;
+declare class Listener {
+    static __name__: string[];
+    zpp_inner: ZPP_Listener;
+    get _inner(): Any$q;
+    constructor();
+    static _wrap(inner: Any$q): Listener;
+    get type(): ListenerType;
+    get event(): CbEvent;
+    set event(event: CbEvent);
+    get precedence(): number;
+    set precedence(precedence: number);
+    get space(): Space | null;
+    set space(space: Space | Any$q | null);
+    toString(): string;
+}
+
 /**
  * ZPP_BodyListener — Internal body listener for the nape physics engine.
  *
@@ -3289,62 +3669,7 @@ declare class PreListener extends Listener {
     set interactionType(interactionType: InteractionType | null);
 }
 
-/**
- * ZPP_Callback — Internal callback data holder for the nape physics engine.
- *
- * Stores callback event information (listener, event type, interactors, etc.)
- * and forms a doubly-linked list for callback queue management.
- *
- * Converted from nape-compiled.js lines 44587–44794, 133299–133300.
- */
 type Any$i = any;
-declare class ZPP_Callback {
-    static __name__: string[];
-    static _nape: Any$i;
-    static _zpp: Any$i;
-    static internal: boolean;
-    static zpp_pool: ZPP_Callback | null;
-    outer_body: Any$i;
-    outer_con: Any$i;
-    outer_int: Any$i;
-    event: number;
-    listener: Any$i;
-    space: Any$i;
-    index: number;
-    next: ZPP_Callback | null;
-    prev: ZPP_Callback | null;
-    length: number;
-    int1: Any$i;
-    int2: Any$i;
-    set: Any$i;
-    wrap_arbiters: Any$i;
-    pre_arbiter: Any$i;
-    pre_swapped: boolean;
-    body: Any$i;
-    constraint: Any$i;
-    __class__: Any$i;
-    wrapper_body(): Any$i;
-    wrapper_con(): Any$i;
-    wrapper_int(): Any$i;
-    push(obj: ZPP_Callback): void;
-    push_rev(obj: ZPP_Callback): void;
-    pop(): ZPP_Callback;
-    pop_rev(): ZPP_Callback;
-    empty(): boolean;
-    clear(): void;
-    splice(o: ZPP_Callback): ZPP_Callback | null;
-    rotateL(): void;
-    rotateR(): void;
-    cycleNext(o: ZPP_Callback): ZPP_Callback | null;
-    cyclePrev(o: ZPP_Callback): ZPP_Callback | null;
-    at(i: number): ZPP_Callback;
-    rev_at(i: number): ZPP_Callback;
-    free(): void;
-    alloc(): void;
-    genarbs(): void;
-}
-
-type Any$h = any;
 /**
  * Base class for all physics engine callbacks.
  *
@@ -3357,12 +3682,12 @@ declare class Callback {
     static __name__: string[];
     zpp_inner: ZPP_Callback | null;
     constructor();
-    get event(): Any$h;
-    get listener(): Any$h;
+    get event(): Any$i;
+    get listener(): Any$i;
     toString(): string;
 }
 
-type Any$g = any;
+type Any$h = any;
 /**
  * Callback for body events (WAKE/SLEEP).
  *
@@ -3372,11 +3697,11 @@ type Any$g = any;
  */
 declare class BodyCallback extends Callback {
     static __name__: string[];
-    get body(): Any$g;
+    get body(): Any$h;
     toString(): string;
 }
 
-type Any$f = any;
+type Any$g = any;
 /**
  * Callback for constraint events (WAKE/SLEEP/BREAK).
  *
@@ -3386,11 +3711,11 @@ type Any$f = any;
  */
 declare class ConstraintCallback extends Callback {
     static __name__: string[];
-    get constraint(): Any$f;
+    get constraint(): Any$g;
     toString(): string;
 }
 
-type Any$e = any;
+type Any$f = any;
 /**
  * Callback for interaction events (BEGIN/END/ONGOING).
  *
@@ -3400,13 +3725,13 @@ type Any$e = any;
  */
 declare class InteractionCallback extends Callback {
     static __name__: string[];
-    get int1(): Any$e;
-    get int2(): Any$e;
-    get arbiters(): Any$e;
+    get int1(): Any$f;
+    get int2(): Any$f;
+    get arbiters(): Any$f;
     toString(): string;
 }
 
-type Any$d = any;
+type Any$e = any;
 /**
  * Callback for pre-interaction events.
  *
@@ -3416,9 +3741,9 @@ type Any$d = any;
  */
 declare class PreCallback extends Callback {
     static __name__: string[];
-    get arbiter(): Any$d;
-    get int1(): Any$d;
-    get int2(): Any$d;
+    get arbiter(): Any$e;
+    get int1(): Any$e;
+    get int2(): Any$e;
     get swapped(): boolean;
     toString(): string;
 }
@@ -3433,24 +3758,24 @@ declare class PreCallback extends Callback {
  * Converted from nape-compiled.js lines 24611–25474.
  */
 
-type Any$c = any;
+type Any$d = any;
 declare class ZPP_PivotJoint extends ZPP_Constraint {
     static __name__: string[];
     static __super__: typeof ZPP_Constraint;
-    static _wrapFn: ((zpp: ZPP_PivotJoint) => Any$c) | null;
-    outer_zn: Any$c;
-    b1: Any$c;
-    b2: Any$c;
+    static _wrapFn: ((zpp: ZPP_PivotJoint) => Any$d) | null;
+    outer_zn: Any$d;
+    b1: Any$d;
+    b2: Any$d;
     a1localx: number;
     a1localy: number;
     a1relx: number;
     a1rely: number;
-    wrap_a1: Any$c;
+    wrap_a1: Any$d;
     a2localx: number;
     a2localy: number;
     a2relx: number;
     a2rely: number;
-    wrap_a2: Any$c;
+    wrap_a2: Any$d;
     kMassa: number;
     kMassb: number;
     kMassc: number;
@@ -3461,18 +3786,18 @@ declare class ZPP_PivotJoint extends ZPP_Constraint {
     biasx: number;
     biasy: number;
     stepped: boolean;
-    __class__: Any$c;
+    __class__: Any$d;
     constructor();
-    bodyImpulse(b: Any$c): Any$c;
+    bodyImpulse(b: Any$d): Any$d;
     activeBodies(): void;
     inactiveBodies(): void;
     validate_a1(): void;
-    invalidate_a1(x: Any$c): void;
+    invalidate_a1(x: Any$d): void;
     setup_a1(): void;
     validate_a2(): void;
-    invalidate_a2(x: Any$c): void;
+    invalidate_a2(x: Any$d): void;
     setup_a2(): void;
-    copy(dict: Any$c, todo: Any$c): Any$c;
+    copy(dict: Any$d, todo: Any$d): Any$d;
     validate(): void;
     wake_connected(): void;
     forest(): void;
@@ -3482,10 +3807,10 @@ declare class ZPP_PivotJoint extends ZPP_Constraint {
     warmStart(): void;
     applyImpulseVel(): boolean;
     applyImpulsePos(): boolean;
-    draw(_g: Any$c): void;
+    draw(_g: Any$d): void;
 }
 
-type Any$b = any;
+type Any$c = any;
 /**
  * A pivot (pin) joint that constrains two bodies to share an anchor point.
  *
@@ -3495,7 +3820,7 @@ declare class PivotJoint extends Constraint {
     zpp_inner: ZPP_PivotJoint;
     constructor(body1: Body | null, body2: Body | null, anchor1: Vec2, anchor2: Vec2);
     /** @internal */
-    static _wrap(inner: Any$b): PivotJoint;
+    static _wrap(inner: Any$c): PivotJoint;
     get body1(): Body;
     set body1(value: Body | null);
     /** @internal */
@@ -3508,17 +3833,17 @@ declare class PivotJoint extends Constraint {
     set anchor1(value: Vec2);
     get anchor2(): Vec2;
     set anchor2(value: Vec2);
-    impulse(): Any$b;
-    bodyImpulse(body: Body): Any$b;
+    impulse(): Any$c;
+    bodyImpulse(body: Body): Any$c;
     visitBodies(lambda: (body: Body) => void): void;
-    /** @internal */ get_body1(): Any$b;
-    /** @internal */ set_body1(v: Any$b): Any$b;
-    /** @internal */ get_body2(): Any$b;
-    /** @internal */ set_body2(v: Any$b): Any$b;
-    /** @internal */ get_anchor1(): Any$b;
-    /** @internal */ set_anchor1(v: Any$b): Any$b;
-    /** @internal */ get_anchor2(): Any$b;
-    /** @internal */ set_anchor2(v: Any$b): Any$b;
+    /** @internal */ get_body1(): Any$c;
+    /** @internal */ set_body1(v: Any$c): Any$c;
+    /** @internal */ get_body2(): Any$c;
+    /** @internal */ set_body2(v: Any$c): Any$c;
+    /** @internal */ get_anchor1(): Any$c;
+    /** @internal */ set_anchor1(v: Any$c): Any$c;
+    /** @internal */ get_anchor2(): Any$c;
+    /** @internal */ set_anchor2(v: Any$c): Any$c;
     /** @internal backward compat alias for zpp_inner */
     get zpp_inner_zn(): ZPP_PivotJoint;
     set zpp_inner_zn(v: ZPP_PivotJoint);
@@ -3534,12 +3859,12 @@ declare class PivotJoint extends Constraint {
  * Converted from nape-compiled.js lines 22329–23204.
  */
 
-type Any$a = any;
+type Any$b = any;
 declare class ZPP_DistanceJoint extends ZPP_Constraint {
     static __name__: string[];
     static __super__: typeof ZPP_Constraint;
-    static _wrapFn: ((zpp: ZPP_DistanceJoint) => Any$a) | null;
-    outer_zn: Any$a;
+    static _wrapFn: ((zpp: ZPP_DistanceJoint) => Any$b) | null;
+    outer_zn: Any$b;
     jointMin: number;
     jointMax: number;
     slack: boolean;
@@ -3548,8 +3873,8 @@ declare class ZPP_DistanceJoint extends ZPP_Constraint {
     ny: number;
     cx1: number;
     cx2: number;
-    b1: Any$a;
-    b2: Any$a;
+    b1: Any$b;
+    b2: Any$b;
     a1localx: number;
     a1localy: number;
     a1relx: number;
@@ -3558,27 +3883,27 @@ declare class ZPP_DistanceJoint extends ZPP_Constraint {
     a2localy: number;
     a2relx: number;
     a2rely: number;
-    wrap_a1: Any$a;
-    wrap_a2: Any$a;
+    wrap_a1: Any$b;
+    wrap_a2: Any$b;
     kMass: number;
     jAcc: number;
     jMax: number;
     gamma: number;
     bias: number;
     stepped: boolean;
-    __class__: Any$a;
+    __class__: Any$b;
     constructor();
     is_slack(): boolean;
-    bodyImpulse(b: Any$a): Any$a;
+    bodyImpulse(b: Any$b): Any$b;
     activeBodies(): void;
     inactiveBodies(): void;
     validate_a1(): void;
-    invalidate_a1(x: Any$a): void;
+    invalidate_a1(x: Any$b): void;
     setup_a1(): void;
     validate_a2(): void;
-    invalidate_a2(x: Any$a): void;
+    invalidate_a2(x: Any$b): void;
     setup_a2(): void;
-    copy(dict: Any$a, todo: Any$a): Any$a;
+    copy(dict: Any$b, todo: Any$b): Any$b;
     validate(): void;
     wake_connected(): void;
     forest(): void;
@@ -3588,7 +3913,7 @@ declare class ZPP_DistanceJoint extends ZPP_Constraint {
     warmStart(): void;
     applyImpulseVel(): boolean;
     applyImpulsePos(): boolean;
-    draw(_g: Any$a): void;
+    draw(_g: Any$b): void;
     /**
      * Creates (or reuses from pool) a public Vec2 wrapper for a constraint anchor
      * point stored as (localx, localy). Installs the given validate and invalidate
@@ -3596,10 +3921,10 @@ declare class ZPP_DistanceJoint extends ZPP_Constraint {
      *
      * Shared by all anchor-based joints (DistanceJoint, PivotJoint, LineJoint, etc.)
      */
-    static _setupAnchorVec2(localx: number, localy: number, validateFn: (() => void) | null, invalidateFn: ((vec: Any$a) => void) | null): Any$a;
+    static _setupAnchorVec2(localx: number, localy: number, validateFn: (() => void) | null, invalidateFn: ((vec: Any$b) => void) | null): Any$b;
 }
 
-type Any$9 = any;
+type Any$a = any;
 /**
  * Constrains the distance between two anchor points on two bodies.
  *
@@ -3609,7 +3934,7 @@ declare class DistanceJoint extends Constraint {
     zpp_inner: ZPP_DistanceJoint;
     constructor(body1: Body | null, body2: Body | null, anchor1: Vec2, anchor2: Vec2, jointMin: number, jointMax: number);
     /** @internal */
-    static _wrap(inner: Any$9): DistanceJoint;
+    static _wrap(inner: Any$a): DistanceJoint;
     get body1(): Body;
     set body1(value: Body | null);
     /** @internal */
@@ -3627,17 +3952,17 @@ declare class DistanceJoint extends Constraint {
     get jointMax(): number;
     set jointMax(value: number);
     isSlack(): boolean;
-    impulse(): Any$9;
-    bodyImpulse(body: Body): Any$9;
+    impulse(): Any$a;
+    bodyImpulse(body: Body): Any$a;
     visitBodies(lambda: (body: Body) => void): void;
-    /** @internal */ get_body1(): Any$9;
-    /** @internal */ set_body1(v: Any$9): Any$9;
-    /** @internal */ get_body2(): Any$9;
-    /** @internal */ set_body2(v: Any$9): Any$9;
-    /** @internal */ get_anchor1(): Any$9;
-    /** @internal */ set_anchor1(v: Any$9): Any$9;
-    /** @internal */ get_anchor2(): Any$9;
-    /** @internal */ set_anchor2(v: Any$9): Any$9;
+    /** @internal */ get_body1(): Any$a;
+    /** @internal */ set_body1(v: Any$a): Any$a;
+    /** @internal */ get_body2(): Any$a;
+    /** @internal */ set_body2(v: Any$a): Any$a;
+    /** @internal */ get_anchor1(): Any$a;
+    /** @internal */ set_anchor1(v: Any$a): Any$a;
+    /** @internal */ get_anchor2(): Any$a;
+    /** @internal */ set_anchor2(v: Any$a): Any$a;
     /** @internal */ get_jointMin(): number;
     /** @internal */ set_jointMin(v: number): number;
     /** @internal */ get_jointMax(): number;
@@ -3656,53 +3981,53 @@ declare class DistanceJoint extends Constraint {
  * Converted from nape-compiled.js lines 21441–21912.
  */
 
-type Any$8 = any;
+type Any$9 = any;
 declare class ZPP_AngleJoint extends ZPP_Constraint {
     static __name__: string[];
-    static _wrapFn: ((zpp: ZPP_AngleJoint) => Any$8) | null;
-    outer_zn: Any$8;
+    static _wrapFn: ((zpp: ZPP_AngleJoint) => Any$9) | null;
+    outer_zn: Any$9;
     ratio: number;
     jointMin: number;
     jointMax: number;
     slack: boolean;
     equal: boolean;
     scale: number;
-    b1: Any$8;
-    b2: Any$8;
+    b1: Any$9;
+    b2: Any$9;
     kMass: number;
     jAcc: number;
     jMax: number;
     gamma: number;
     bias: number;
     stepped: boolean;
-    __class__: Any$8;
+    __class__: Any$9;
     constructor();
     is_slack(): boolean;
-    bodyImpulse(b: Any$8): Any$8;
+    bodyImpulse(b: Any$9): Any$9;
     activeBodies(): void;
     inactiveBodies(): void;
-    copy(dict?: Any$8, todo?: Any$8): Any$8;
+    copy(dict?: Any$9, todo?: Any$9): Any$9;
     validate(): void;
     wake_connected(): void;
     forest(): void;
-    pair_exists(id: Any$8, di: Any$8): boolean;
+    pair_exists(id: Any$9, di: Any$9): boolean;
     clearcache(): void;
     preStep(dt: number): boolean;
     warmStart(): void;
     applyImpulseVel(): boolean;
     applyImpulsePos(): boolean;
-    draw(_g: Any$8): void;
+    draw(_g: Any$9): void;
     /**
      * Small-angle-optimized body rotation. Used by all joints' applyImpulsePos.
      */
-    static _rotateBody(body: Any$8, dr: number): void;
+    static _rotateBody(body: Any$9, dr: number): void;
     /**
      * Dict-lookup / deferred-todo body copying. Used by all joints' copy().
      */
-    static _copyBody(dict: Any$8, todo: Any$8, srcBody: Any$8, ret: Any$8, field: string): void;
+    static _copyBody(dict: Any$9, todo: Any$9, srcBody: Any$9, ret: Any$9, field: string): void;
 }
 
-type Any$7 = any;
+type Any$8 = any;
 /**
  * Constrains the relative angle between two bodies.
  *
@@ -3712,7 +4037,7 @@ declare class AngleJoint extends Constraint {
     zpp_inner: ZPP_AngleJoint;
     constructor(body1: Body | null, body2: Body | null, jointMin: number, jointMax: number, ratio?: number);
     /** @internal */
-    static _wrap(inner: Any$7): AngleJoint;
+    static _wrap(inner: Any$8): AngleJoint;
     get body1(): Body;
     set body1(value: Body | null);
     /** @internal */
@@ -3728,13 +4053,13 @@ declare class AngleJoint extends Constraint {
     get ratio(): number;
     set ratio(value: number);
     isSlack(): boolean;
-    impulse(): Any$7;
-    bodyImpulse(body: Body): Any$7;
+    impulse(): Any$8;
+    bodyImpulse(body: Body): Any$8;
     visitBodies(lambda: (body: Body) => void): void;
-    /** @internal */ get_body1(): Any$7;
-    /** @internal */ set_body1(v: Any$7): Any$7;
-    /** @internal */ get_body2(): Any$7;
-    /** @internal */ set_body2(v: Any$7): Any$7;
+    /** @internal */ get_body1(): Any$8;
+    /** @internal */ set_body1(v: Any$8): Any$8;
+    /** @internal */ get_body2(): Any$8;
+    /** @internal */ set_body2(v: Any$8): Any$8;
     /** @internal */ get_jointMin(): number;
     /** @internal */ set_jointMin(v: number): number;
     /** @internal */ get_jointMax(): number;
@@ -3756,24 +4081,24 @@ declare class AngleJoint extends Constraint {
  * Converted from nape-compiled.js lines 28055–29046.
  */
 
-type Any$6 = any;
+type Any$7 = any;
 declare class ZPP_WeldJoint extends ZPP_Constraint {
     static __name__: string[];
     static __super__: typeof ZPP_Constraint;
-    static _wrapFn: ((zpp: ZPP_WeldJoint) => Any$6) | null;
-    outer_zn: Any$6;
-    b1: Any$6;
-    b2: Any$6;
+    static _wrapFn: ((zpp: ZPP_WeldJoint) => Any$7) | null;
+    outer_zn: Any$7;
+    b1: Any$7;
+    b2: Any$7;
     a1localx: number;
     a1localy: number;
     a1relx: number;
     a1rely: number;
-    wrap_a1: Any$6;
+    wrap_a1: Any$7;
     a2localx: number;
     a2localy: number;
     a2relx: number;
     a2rely: number;
-    wrap_a2: Any$6;
+    wrap_a2: Any$7;
     phase: number;
     kMassa: number;
     kMassb: number;
@@ -3790,18 +4115,18 @@ declare class ZPP_WeldJoint extends ZPP_Constraint {
     biasy: number;
     biasz: number;
     stepped: boolean;
-    __class__: Any$6;
+    __class__: Any$7;
     constructor();
-    bodyImpulse(b: Any$6): Any$6;
+    bodyImpulse(b: Any$7): Any$7;
     activeBodies(): void;
     inactiveBodies(): void;
     validate_a1(): void;
-    invalidate_a1(x: Any$6): void;
+    invalidate_a1(x: Any$7): void;
     setup_a1(): void;
     validate_a2(): void;
-    invalidate_a2(x: Any$6): void;
+    invalidate_a2(x: Any$7): void;
     setup_a2(): void;
-    copy(dict: Any$6, todo: Any$6): Any$6;
+    copy(dict: Any$7, todo: Any$7): Any$7;
     validate(): void;
     wake_connected(): void;
     forest(): void;
@@ -3811,10 +4136,10 @@ declare class ZPP_WeldJoint extends ZPP_Constraint {
     warmStart(): void;
     applyImpulseVel(): boolean;
     applyImpulsePos(): boolean;
-    draw(_g: Any$6): void;
+    draw(_g: Any$7): void;
 }
 
-type Any$5 = any;
+type Any$6 = any;
 /**
  * Weld joint — constrains two bodies to maintain a fixed relative
  * position and angle (like gluing them together).
@@ -3825,7 +4150,7 @@ declare class WeldJoint extends Constraint {
     zpp_inner: ZPP_WeldJoint;
     constructor(body1: Body | null, body2: Body | null, anchor1: Vec2, anchor2: Vec2, phase?: number);
     /** @internal */
-    static _wrap(inner: Any$5): WeldJoint;
+    static _wrap(inner: Any$6): WeldJoint;
     get body1(): Body;
     set body1(value: Body | null);
     /** @internal */
@@ -3840,17 +4165,17 @@ declare class WeldJoint extends Constraint {
     set anchor2(value: Vec2);
     get phase(): number;
     set phase(value: number);
-    impulse(): Any$5;
-    bodyImpulse(body: Body): Any$5;
+    impulse(): Any$6;
+    bodyImpulse(body: Body): Any$6;
     visitBodies(lambda: (body: Body) => void): void;
-    /** @internal */ get_body1(): Any$5;
-    /** @internal */ set_body1(v: Any$5): Any$5;
-    /** @internal */ get_body2(): Any$5;
-    /** @internal */ set_body2(v: Any$5): Any$5;
-    /** @internal */ get_anchor1(): Any$5;
-    /** @internal */ set_anchor1(v: Any$5): Any$5;
-    /** @internal */ get_anchor2(): Any$5;
-    /** @internal */ set_anchor2(v: Any$5): Any$5;
+    /** @internal */ get_body1(): Any$6;
+    /** @internal */ set_body1(v: Any$6): Any$6;
+    /** @internal */ get_body2(): Any$6;
+    /** @internal */ set_body2(v: Any$6): Any$6;
+    /** @internal */ get_anchor1(): Any$6;
+    /** @internal */ set_anchor1(v: Any$6): Any$6;
+    /** @internal */ get_anchor2(): Any$6;
+    /** @internal */ set_anchor2(v: Any$6): Any$6;
     /** @internal */ get_phase(): number;
     /** @internal */ set_phase(v: number): number;
     /** @internal backward compat alias for zpp_inner */
@@ -3867,29 +4192,29 @@ declare class WeldJoint extends Constraint {
  * Converted from nape-compiled.js lines 23892–24197.
  */
 
-type Any$4 = any;
+type Any$5 = any;
 declare class ZPP_MotorJoint extends ZPP_Constraint {
     static __name__: string[];
-    static _wrapFn: ((zpp: ZPP_MotorJoint) => Any$4) | null;
-    outer_zn: Any$4;
+    static _wrapFn: ((zpp: ZPP_MotorJoint) => Any$5) | null;
+    outer_zn: Any$5;
     ratio: number;
     rate: number;
-    b1: Any$4;
-    b2: Any$4;
+    b1: Any$5;
+    b2: Any$5;
     kMass: number;
     jAcc: number;
     jMax: number;
     stepped: boolean;
-    __class__: Any$4;
+    __class__: Any$5;
     constructor();
-    bodyImpulse(b: Any$4): Any$4;
+    bodyImpulse(b: Any$5): Any$5;
     activeBodies(): void;
     inactiveBodies(): void;
-    copy(dict?: Any$4, todo?: Any$4): Any$4;
+    copy(dict?: Any$5, todo?: Any$5): Any$5;
     validate(): void;
     wake_connected(): void;
     forest(): void;
-    pair_exists(id: Any$4, di: Any$4): boolean;
+    pair_exists(id: Any$5, di: Any$5): boolean;
     clearcache(): void;
     preStep(dt: number): boolean;
     warmStart(): void;
@@ -3897,7 +4222,7 @@ declare class ZPP_MotorJoint extends ZPP_Constraint {
     applyImpulsePos(): boolean;
 }
 
-type Any$3 = any;
+type Any$4 = any;
 /**
  * Motor joint — applies angular velocity to rotate bodies relative to each other.
  *
@@ -3907,7 +4232,7 @@ declare class MotorJoint extends Constraint {
     zpp_inner: ZPP_MotorJoint;
     constructor(body1: Body | null, body2: Body | null, rate?: number, ratio?: number);
     /** @internal */
-    static _wrap(inner: Any$3): MotorJoint;
+    static _wrap(inner: Any$4): MotorJoint;
     get body1(): Body;
     set body1(value: Body | null);
     /** @internal */
@@ -3920,13 +4245,13 @@ declare class MotorJoint extends Constraint {
     set rate(value: number);
     get ratio(): number;
     set ratio(value: number);
-    impulse(): Any$3;
-    bodyImpulse(body: Body): Any$3;
+    impulse(): Any$4;
+    bodyImpulse(body: Body): Any$4;
     visitBodies(lambda: (body: Body) => void): void;
-    /** @internal */ get_body1(): Any$3;
-    /** @internal */ set_body1(v: Any$3): Any$3;
-    /** @internal */ get_body2(): Any$3;
-    /** @internal */ set_body2(v: Any$3): Any$3;
+    /** @internal */ get_body1(): Any$4;
+    /** @internal */ set_body1(v: Any$4): Any$4;
+    /** @internal */ get_body2(): Any$4;
+    /** @internal */ set_body2(v: Any$4): Any$4;
     /** @internal */ get_rate(): number;
     /** @internal */ set_rate(v: number): number;
     /** @internal */ get_ratio(): number;
@@ -3946,12 +4271,12 @@ declare class MotorJoint extends Constraint {
  * Converted from nape-compiled.js lines 23205–23304.
  */
 
-type Any$2 = any;
+type Any$3 = any;
 declare class ZPP_LineJoint extends ZPP_Constraint {
     static __name__: string[];
     static __super__: typeof ZPP_Constraint;
-    static _wrapFn: ((zpp: ZPP_LineJoint) => Any$2) | null;
-    outer_zn: Any$2;
+    static _wrapFn: ((zpp: ZPP_LineJoint) => Any$3) | null;
+    outer_zn: Any$3;
     scale: number;
     jointMin: number;
     jointMax: number;
@@ -3960,35 +4285,35 @@ declare class ZPP_LineJoint extends ZPP_Constraint {
     dot2: number;
     cx1: number;
     cx2: number;
-    b1: Any$2;
+    b1: Any$3;
     a1localx: number;
     a1localy: number;
     a1relx: number;
     a1rely: number;
-    wrap_a1: Any$2;
-    b2: Any$2;
+    wrap_a1: Any$3;
+    b2: Any$3;
     a2localx: number;
     a2localy: number;
     a2relx: number;
     a2rely: number;
-    wrap_a2: Any$2;
-    zip_n: Any$2;
+    wrap_a2: Any$3;
+    zip_n: Any$3;
     nlocalx: number;
     nlocaly: number;
     nrelx: number;
     nrely: number;
-    wrap_n: Any$2;
+    wrap_n: Any$3;
     kMassa: number;
     kMassb: number;
     kMassc: number;
     jAccx: number;
     jAccy: number;
-    jMax: Any$2;
-    gamma: Any$2;
+    jMax: Any$3;
+    gamma: Any$3;
     biasx: number;
     biasy: number;
     stepped: boolean;
-    __class__: Any$2;
+    __class__: Any$3;
     constructor();
     /**
      * Creates or recycles a Vec2 from the public pool, sets its x/y,
@@ -3997,19 +4322,19 @@ declare class ZPP_LineJoint extends ZPP_Constraint {
      */
     private _setupVec2;
     validate_a1(): void;
-    invalidate_a1(x: Any$2): void;
+    invalidate_a1(x: Any$3): void;
     setup_a1(): void;
     validate_a2(): void;
-    invalidate_a2(x: Any$2): void;
+    invalidate_a2(x: Any$3): void;
     setup_a2(): void;
     validate_n(): void;
-    invalidate_n(x: Any$2): void;
+    invalidate_n(x: Any$3): void;
     setup_n(): void;
     validate_norm(): void;
-    bodyImpulse(b: Any$2): Any$2;
+    bodyImpulse(b: Any$3): Any$3;
     activeBodies(): void;
     inactiveBodies(): void;
-    copy(dict: Any$2, todo: Any$2): Any$2;
+    copy(dict: Any$3, todo: Any$3): Any$3;
     validate(): void;
     wake_connected(): void;
     forest(): void;
@@ -4019,10 +4344,10 @@ declare class ZPP_LineJoint extends ZPP_Constraint {
     warmStart(): void;
     applyImpulseVel(): boolean;
     applyImpulsePos(): boolean;
-    draw(_g: Any$2): void;
+    draw(_g: Any$3): void;
 }
 
-type Any$1 = any;
+type Any$2 = any;
 /**
  * Line joint — constrains body2's anchor to slide along a line
  * defined by body1's anchor and direction.
@@ -4033,7 +4358,7 @@ declare class LineJoint extends Constraint {
     zpp_inner: ZPP_LineJoint;
     constructor(body1: Body | null, body2: Body | null, anchor1: Vec2, anchor2: Vec2, direction: Vec2, jointMin: number, jointMax: number);
     /** @internal */
-    static _wrap(inner: Any$1): LineJoint;
+    static _wrap(inner: Any$2): LineJoint;
     get body1(): Body;
     set body1(value: Body | null);
     /** @internal */
@@ -4052,19 +4377,19 @@ declare class LineJoint extends Constraint {
     set jointMin(value: number);
     get jointMax(): number;
     set jointMax(value: number);
-    impulse(): Any$1;
-    bodyImpulse(body: Body): Any$1;
+    impulse(): Any$2;
+    bodyImpulse(body: Body): Any$2;
     visitBodies(lambda: (body: Body) => void): void;
-    /** @internal */ get_body1(): Any$1;
-    /** @internal */ set_body1(v: Any$1): Any$1;
-    /** @internal */ get_body2(): Any$1;
-    /** @internal */ set_body2(v: Any$1): Any$1;
-    /** @internal */ get_anchor1(): Any$1;
-    /** @internal */ set_anchor1(v: Any$1): Any$1;
-    /** @internal */ get_anchor2(): Any$1;
-    /** @internal */ set_anchor2(v: Any$1): Any$1;
-    /** @internal */ get_direction(): Any$1;
-    /** @internal */ set_direction(v: Any$1): Any$1;
+    /** @internal */ get_body1(): Any$2;
+    /** @internal */ set_body1(v: Any$2): Any$2;
+    /** @internal */ get_body2(): Any$2;
+    /** @internal */ set_body2(v: Any$2): Any$2;
+    /** @internal */ get_anchor1(): Any$2;
+    /** @internal */ set_anchor1(v: Any$2): Any$2;
+    /** @internal */ get_anchor2(): Any$2;
+    /** @internal */ set_anchor2(v: Any$2): Any$2;
+    /** @internal */ get_direction(): Any$2;
+    /** @internal */ set_direction(v: Any$2): Any$2;
     /** @internal */ get_jointMin(): number;
     /** @internal */ set_jointMin(v: number): number;
     /** @internal */ get_jointMax(): number;
@@ -4074,13 +4399,108 @@ declare class LineJoint extends Constraint {
     set zpp_inner_zn(v: ZPP_LineJoint);
 }
 
+/**
+ * ZPP_PulleyJoint — Internal 4-body, 1-DOF pulley constraint.
+ *
+ * Constrains (dist(b1,b2) + ratio * dist(b3,b4)) to [jointMin, jointMax].
+ * Supports mechanical advantage ratio, slack detection, stiffness/damping,
+ * and large-error pre-correction in applyImpulsePos.
+ *
+ * Converted from nape-compiled.js lines 25475–25367.
+ */
+
+type Any$1 = any;
+declare class ZPP_PulleyJoint extends ZPP_Constraint {
+    static __name__: string[];
+    static __super__: typeof ZPP_Constraint;
+    static _wrapFn: ((zpp: ZPP_PulleyJoint) => Any$1) | null;
+    outer_zn: Any$1;
+    ratio: number;
+    jointMin: number;
+    jointMax: number;
+    slack: boolean;
+    equal: boolean;
+    n12x: number;
+    n12y: number;
+    n34x: number;
+    n34y: number;
+    cx1: number;
+    cx2: number;
+    cx3: number;
+    cx4: number;
+    b1: Any$1;
+    a1localx: number;
+    a1localy: number;
+    a1relx: number;
+    a1rely: number;
+    wrap_a1: Any$1;
+    b2: Any$1;
+    a2localx: number;
+    a2localy: number;
+    a2relx: number;
+    a2rely: number;
+    wrap_a2: Any$1;
+    b3: Any$1;
+    a3localx: number;
+    a3localy: number;
+    a3relx: number;
+    a3rely: number;
+    wrap_a3: Any$1;
+    b4: Any$1;
+    a4localx: number;
+    a4localy: number;
+    a4relx: number;
+    a4rely: number;
+    wrap_a4: Any$1;
+    kMass: number;
+    jAcc: number;
+    jMax: number;
+    gamma: number;
+    bias: number;
+    stepped: boolean;
+    __class__: Any$1;
+    constructor();
+    is_slack(): boolean;
+    bodyImpulse(b: Any$1): Any$1;
+    activeBodies(): void;
+    inactiveBodies(): void;
+    validate_a1(): void;
+    invalidate_a1(x: Any$1): void;
+    setup_a1(): void;
+    validate_a2(): void;
+    invalidate_a2(x: Any$1): void;
+    setup_a2(): void;
+    validate_a3(): void;
+    invalidate_a3(x: Any$1): void;
+    setup_a3(): void;
+    validate_a4(): void;
+    invalidate_a4(x: Any$1): void;
+    setup_a4(): void;
+    copy(dict: Any$1, todo: Any$1): Any$1;
+    validate(): void;
+    wake_connected(): void;
+    forest(): void;
+    pair_exists(id: number, di: number): boolean;
+    clearcache(): void;
+    preStep(dt: number): boolean;
+    warmStart(): void;
+    applyImpulseVel(): boolean;
+    applyImpulsePos(): boolean;
+    draw(_g: Any$1): void;
+}
+
 type Any = any;
 /**
- * Pulley joint — constrains the sum of distances between four anchor points
- * on four bodies.
+ * Pulley joint — constrains the weighted sum of distances between
+ * four anchor points on four bodies.
+ *
+ * Fully modernized — uses ZPP_PulleyJoint directly (extracted to TypeScript).
  */
 declare class PulleyJoint extends Constraint {
+    zpp_inner: ZPP_PulleyJoint;
     constructor(body1: Body | null, body2: Body | null, body3: Body | null, body4: Body | null, anchor1: Vec2, anchor2: Vec2, anchor3: Vec2, anchor4: Vec2, jointMin: number, jointMax: number, ratio?: number);
+    /** @internal Helper to set an anchor during construction. */
+    private _setAnchorInit;
     /** @internal */
     static _wrap(inner: Any): PulleyJoint;
     get body1(): Body;
@@ -4091,6 +4511,14 @@ declare class PulleyJoint extends Constraint {
     set body3(value: Body | null);
     get body4(): Body;
     set body4(value: Body | null);
+    /** @internal */
+    private _setBody1;
+    /** @internal */
+    private _setBody2;
+    /** @internal */
+    private _setBody3;
+    /** @internal */
+    private _setBody4;
     get anchor1(): Vec2;
     set anchor1(value: Vec2);
     get anchor2(): Vec2;
@@ -4105,6 +4533,35 @@ declare class PulleyJoint extends Constraint {
     set jointMax(value: number);
     get ratio(): number;
     set ratio(value: number);
+    isSlack(): boolean;
+    impulse(): Any;
+    bodyImpulse(body: Body): Any;
+    visitBodies(lambda: (body: Body) => void): void;
+    /** @internal */ get_body1(): Any;
+    /** @internal */ set_body1(v: Any): Any;
+    /** @internal */ get_body2(): Any;
+    /** @internal */ set_body2(v: Any): Any;
+    /** @internal */ get_body3(): Any;
+    /** @internal */ set_body3(v: Any): Any;
+    /** @internal */ get_body4(): Any;
+    /** @internal */ set_body4(v: Any): Any;
+    /** @internal */ get_anchor1(): Any;
+    /** @internal */ set_anchor1(v: Any): Any;
+    /** @internal */ get_anchor2(): Any;
+    /** @internal */ set_anchor2(v: Any): Any;
+    /** @internal */ get_anchor3(): Any;
+    /** @internal */ set_anchor3(v: Any): Any;
+    /** @internal */ get_anchor4(): Any;
+    /** @internal */ set_anchor4(v: Any): Any;
+    /** @internal */ get_jointMin(): number;
+    /** @internal */ set_jointMin(v: number): number;
+    /** @internal */ get_jointMax(): number;
+    /** @internal */ set_jointMax(v: number): number;
+    /** @internal */ get_ratio(): number;
+    /** @internal */ set_ratio(v: number): number;
+    /** @internal backward compat alias for zpp_inner */
+    get zpp_inner_zn(): ZPP_PulleyJoint;
+    set zpp_inner_zn(v: ZPP_PulleyJoint);
 }
 
 declare const VERSION: string;