@newkrok/nape-js 3.6.0 → 3.6.2

package/dist/index.d.cts

@@ -1186,13 +1186,13 @@ declare class Constraint {
      * The impulse applied to `body` by this constraint in the last simulation step,
      * expressed as a {@link Vec3} `(fx, fy, torque)`.
      *
-     * @param body - Must be one of the bodies linked to this constraint.
+     * @param _body - Must be one of the bodies linked to this constraint.
      */
     bodyImpulse(_body: Body): Vec3 | null;
     /**
      * Invokes `fn` once for each distinct body linked to this constraint.
      *
-     * @param fn - Function to call for each body.
+     * @param _fn - Function to call for each body.
      */
     visitBodies(_fn: (body: Body) => void): void;
     /**
@@ -1214,25 +1214,58 @@ declare class Constraint {
  */
 declare class InteractionFilter {
     static __name__: string[];
+    /**
+     * @param collisionGroup - Collision group bits (default 1).
+     * @param collisionMask - Collision mask bits (default -1, all bits set).
+     * @param sensorGroup - Sensor group bits (default 1).
+     * @param sensorMask - Sensor mask bits (default -1, all bits set).
+     * @param fluidGroup - Fluid group bits (default 1).
+     * @param fluidMask - Fluid mask bits (default -1, all bits set).
+     */
     constructor(collisionGroup?: number, collisionMask?: number, sensorGroup?: number, sensorMask?: number, fluidGroup?: number, fluidMask?: number);
+    /** Bit-mask identifying which collision group(s) this shape belongs to. */
     get collisionGroup(): number;
     set collisionGroup(value: number);
+    /** Bit-mask of collision groups this shape will collide with. */
     get collisionMask(): number;
     set collisionMask(value: number);
+    /** Bit-mask identifying which sensor group(s) this shape belongs to. */
     get sensorGroup(): number;
     set sensorGroup(value: number);
+    /** Bit-mask of sensor groups this shape will sense. */
     get sensorMask(): number;
     set sensorMask(value: number);
+    /** Bit-mask identifying which fluid group(s) this shape belongs to. */
     get fluidGroup(): number;
     set fluidGroup(value: number);
+    /** Bit-mask of fluid groups this shape will interact with as a fluid. */
     get fluidMask(): number;
     set fluidMask(value: number);
+    /** Arbitrary user data attached to this filter. */
     get userData(): Record<string, unknown>;
+    /** Read-only list of shapes currently using this filter. */
     get shapes(): any;
+    /**
+     * Test whether two filters allow collision interaction.
+     * @param filter - The other filter to test against.
+     * @returns `true` if the two filters' group/mask bits permit collision.
+     */
     shouldCollide(filter: InteractionFilter): boolean;
+    /**
+     * Test whether two filters allow sensor interaction.
+     * @param filter - The other filter to test against.
+     * @returns `true` if the two filters' group/mask bits permit sensing.
+     */
     shouldSense(filter: InteractionFilter): boolean;
+    /**
+     * Test whether two filters allow fluid interaction.
+     * @param filter - The other filter to test against.
+     * @returns `true` if the two filters' group/mask bits permit fluid interaction.
+     */
     shouldFlow(filter: InteractionFilter): boolean;
+    /** Create a copy of this filter with the same group/mask values. */
     copy(): InteractionFilter;
+    /** Return a hex-formatted string representation of all group/mask pairs. */
     toString(): string;
 }
 
@@ -2550,7 +2583,7 @@ declare class Arbiter {
      * Overridden by {@link CollisionArbiter} and {@link FluidArbiter}.
      *
      * @param body - One of the two interacting bodies, or `null` for the combined impulse.
-     * @param freshOnly - When `true`, only count fresh (new) contacts. Default `false`.
+     * @param _freshOnly - When `true`, only count fresh (new) contacts. Default `false`.
      */
     totalImpulse(body?: Body | null, _freshOnly?: boolean): Vec3;
     toString(): string;
@@ -3627,6 +3660,194 @@ declare class PulleyJoint extends Constraint {
     visitBodies(lambda: (body: Body) => void): void;
 }
 
+/**
+ * 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.
+ */
+declare class ZPP_Constraint {
+    static __name__: string[];
+    /**
+     * 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.)
+     */
+    static _nape: any;
+    static _zpp: any;
+    outer: any;
+    id: number;
+    userData: any;
+    compound: any;
+    space: any;
+    active: boolean;
+    stiff: boolean;
+    frequency: number;
+    damping: number;
+    maxForce: number;
+    maxError: number;
+    breakUnderForce: boolean;
+    breakUnderError: boolean;
+    removeOnBreak: boolean;
+    component: any;
+    ignore: boolean;
+    __velocity: boolean;
+    cbTypes: any;
+    cbSet: any;
+    wrap_cbTypes: any;
+    pre_dt: number;
+    __class__: any;
+    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;
+    clear(): void;
+    activeBodies(): void;
+    inactiveBodies(): void;
+    clearcache(): void;
+    validate(): void;
+    wake_connected(): void;
+    forest(): void;
+    broken(): void;
+    warmStart(): void;
+    draw(_g: any): void;
+    pair_exists(_id: any, _di: any): boolean;
+    preStep(_dt: number): boolean;
+    applyImpulseVel(): boolean;
+    applyImpulsePos(): boolean;
+    copy(_dict?: any, _todo?: any): any;
+    immutable_midstep(name: string): void;
+    setupcbTypes(): void;
+    immutable_cbTypes(): void;
+    wrap_cbTypes_subber(pcb: any): void;
+    wrap_cbTypes_adder(cb: any): boolean;
+    insert_cbtype(cb: any): void;
+    alloc_cbSet(): void;
+    dealloc_cbSet(): void;
+    activate(): void;
+    deactivate(): void;
+    addedToSpace(): void;
+    removedFromSpace(): void;
+    activeInSpace(): void;
+    inactiveOrOutSpace(): void;
+    wake(): void;
+    copyto(ret: any): void;
+    static _findRoot(comp: any): any;
+    static _unionComponents(a: any, b: any): void;
+}
+
+/**
+ * ZPP_UserBody — pairs a body with a reference count for user constraints.
+ *
+ * Converted from nape-compiled.js lines 28038–28054.
+ */
+declare class ZPP_UserBody {
+    static __name__: string[];
+    cnt: number;
+    body: any;
+    constructor(cnt: number, body: any);
+}
+
+/**
+ * ZPP_UserConstraint — Internal N-DOF user-defined constraint with Cholesky decomposition.
+ *
+ * A generic constraint where the user supplies callbacks for effective mass,
+ * velocity/position errors, impulse application, and clamping.  The solver
+ * factorises the effective-mass matrix via Cholesky (solve/transform) and
+ * drives the constraint each step through warmStart / applyImpulseVel /
+ * applyImpulsePos.
+ *
+ * Converted from nape-compiled.js lines 27368–28037.
+ */
+
+declare class ZPP_UserConstraint extends ZPP_Constraint {
+    static __name__: string[];
+    static __super__: typeof ZPP_Constraint;
+    outer_zn: any;
+    bodies: ZPP_UserBody[];
+    dim: number;
+    jAcc: number[];
+    bias: number[];
+    stepped: boolean;
+    L: number[];
+    y: number[];
+    soft: number;
+    gamma: number;
+    velonly: boolean;
+    jMax: number;
+    Keff: number[];
+    vec3: any;
+    J: number[];
+    jOld: number[];
+    __class__: any;
+    constructor(dim: number, velonly: boolean);
+    bindVec2_invalidate(_: any): void;
+    addBody(b: any): void;
+    remBody(b: any): boolean;
+    bodyImpulse(b: any): any;
+    activeBodies(): void;
+    inactiveBodies(): void;
+    copy(_dict: any, _todo: any): any;
+    validate(): void;
+    wake_connected(): void;
+    forest(): void;
+    pair_exists(id: number, di: number): boolean;
+    broken(): void;
+    clearcache(): void;
+    lsq(v: number[]): number;
+    _clamp(v: number[], max: number): void;
+    solve(m: number[]): number[];
+    transform(L: number[], x: number[]): void;
+    preStep(dt: number): boolean;
+    warmStart(): void;
+    applyImpulseVel(): boolean;
+    applyImpulsePos(): boolean;
+    draw(g: any): void;
+}
+
+/**
+ * Base class for user-defined N-DOF constraints.
+ *
+ * Fully modernized — uses ZPP_UserConstraint directly (extracted to TypeScript).
+ * Subclass and override the abstract callback methods to define custom constraints.
+ */
+declare abstract class UserConstraint extends Constraint {
+    zpp_inner: ZPP_UserConstraint;
+    constructor(dimensions: number, velocityOnly?: boolean);
+    __bindVec2(): Vec2;
+    /** Create a copy of this constraint. Must be overridden. */
+    __copy(): UserConstraint;
+    /** Called when the constraint breaks. Optional override. */
+    __broken(): void;
+    /** Called to validate the constraint. Optional override. */
+    __validate(): void;
+    /** Draw debug visualization. Optional override. */
+    __draw(_debug: any): void;
+    /** Prepare the constraint for solving. Optional override. */
+    __prepare(): void;
+    /** Compute positional error. Must be overridden for non-velocity-only constraints. */
+    __position(_err: number[]): void;
+    /** Compute velocity error. Must be overridden. */
+    __velocity(_err: number[]): void;
+    /** Compute effective mass matrix (upper triangle). Must be overridden. */
+    __eff_mass(_eff: number[]): void;
+    /** Clamp accumulated impulse. Optional override. */
+    __clamp(_jAcc: number[]): void;
+    /** Apply impulse to a body. Must be overridden. */
+    __impulse(_imp: number[], _body: Body, _out: any): void;
+    impulse(): MatMN;
+    bodyImpulse(body: Body): Vec3;
+    visitBodies(lambda: (body: Body) => void): void;
+    __invalidate(): void;
+    __registerBody(oldBody: Body | null, newBody: Body | null): Body | null;
+}
+
 declare const VERSION: string;
 
-export { AABB, AngleJoint, Arbiter, ArbiterType, Body, BodyCallback, BodyListener, BodyType, Broadphase, Callback, CbEvent, CbType, Circle, CollisionArbiter, Compound, Constraint, ConstraintCallback, ConstraintListener, Contact, ConvexResult, DistanceJoint, Edge, FluidArbiter, FluidProperties, Geom, GeomPoly, GravMassMode, InertiaMode, InteractionCallback, InteractionFilter, InteractionGroup, InteractionListener, InteractionType, Interactor, LineJoint, Listener, ListenerType, MarchingSquares, MassMode, Mat23, MatMN, Material, MotorJoint, NapeList, OptionType, PivotJoint, Polygon, PreCallback, PreFlag, PreListener, PulleyJoint, Ray, RayResult, Shape, ShapeType, Space, VERSION, ValidationResult, Vec2, Vec3, WeldJoint, Winding };
+export { AABB, AngleJoint, Arbiter, ArbiterType, Body, BodyCallback, BodyListener, BodyType, Broadphase, Callback, CbEvent, CbType, type CbTypeSet, Circle, CollisionArbiter, Compound, Constraint, ConstraintCallback, ConstraintListener, Contact, ConvexResult, DistanceJoint, Edge, FluidArbiter, FluidProperties, Geom, GeomPoly, GravMassMode, InertiaMode, InteractionCallback, InteractionFilter, InteractionGroup, InteractionListener, InteractionType, Interactor, LineJoint, Listener, ListenerType, MarchingSquares, MassMode, Mat23, MatMN, Material, MotorJoint, NapeList, OptionType, PivotJoint, Polygon, PreCallback, PreFlag, PreListener, PulleyJoint, Ray, RayResult, Shape, ShapeType, Space, UserConstraint, VERSION, ValidationResult, Vec2, Vec3, WeldJoint, Winding };

package/dist/index.d.ts

@@ -1186,13 +1186,13 @@ declare class Constraint {
      * The impulse applied to `body` by this constraint in the last simulation step,
      * expressed as a {@link Vec3} `(fx, fy, torque)`.
      *
-     * @param body - Must be one of the bodies linked to this constraint.
+     * @param _body - Must be one of the bodies linked to this constraint.
      */
     bodyImpulse(_body: Body): Vec3 | null;
     /**
      * Invokes `fn` once for each distinct body linked to this constraint.
      *
-     * @param fn - Function to call for each body.
+     * @param _fn - Function to call for each body.
      */
     visitBodies(_fn: (body: Body) => void): void;
     /**
@@ -1214,25 +1214,58 @@ declare class Constraint {
  */
 declare class InteractionFilter {
     static __name__: string[];
+    /**
+     * @param collisionGroup - Collision group bits (default 1).
+     * @param collisionMask - Collision mask bits (default -1, all bits set).
+     * @param sensorGroup - Sensor group bits (default 1).
+     * @param sensorMask - Sensor mask bits (default -1, all bits set).
+     * @param fluidGroup - Fluid group bits (default 1).
+     * @param fluidMask - Fluid mask bits (default -1, all bits set).
+     */
     constructor(collisionGroup?: number, collisionMask?: number, sensorGroup?: number, sensorMask?: number, fluidGroup?: number, fluidMask?: number);
+    /** Bit-mask identifying which collision group(s) this shape belongs to. */
     get collisionGroup(): number;
     set collisionGroup(value: number);
+    /** Bit-mask of collision groups this shape will collide with. */
     get collisionMask(): number;
     set collisionMask(value: number);
+    /** Bit-mask identifying which sensor group(s) this shape belongs to. */
     get sensorGroup(): number;
     set sensorGroup(value: number);
+    /** Bit-mask of sensor groups this shape will sense. */
     get sensorMask(): number;
     set sensorMask(value: number);
+    /** Bit-mask identifying which fluid group(s) this shape belongs to. */
     get fluidGroup(): number;
     set fluidGroup(value: number);
+    /** Bit-mask of fluid groups this shape will interact with as a fluid. */
     get fluidMask(): number;
     set fluidMask(value: number);
+    /** Arbitrary user data attached to this filter. */
     get userData(): Record<string, unknown>;
+    /** Read-only list of shapes currently using this filter. */
     get shapes(): any;
+    /**
+     * Test whether two filters allow collision interaction.
+     * @param filter - The other filter to test against.
+     * @returns `true` if the two filters' group/mask bits permit collision.
+     */
     shouldCollide(filter: InteractionFilter): boolean;
+    /**
+     * Test whether two filters allow sensor interaction.
+     * @param filter - The other filter to test against.
+     * @returns `true` if the two filters' group/mask bits permit sensing.
+     */
     shouldSense(filter: InteractionFilter): boolean;
+    /**
+     * Test whether two filters allow fluid interaction.
+     * @param filter - The other filter to test against.
+     * @returns `true` if the two filters' group/mask bits permit fluid interaction.
+     */
     shouldFlow(filter: InteractionFilter): boolean;
+    /** Create a copy of this filter with the same group/mask values. */
     copy(): InteractionFilter;
+    /** Return a hex-formatted string representation of all group/mask pairs. */
     toString(): string;
 }
 
@@ -2550,7 +2583,7 @@ declare class Arbiter {
      * Overridden by {@link CollisionArbiter} and {@link FluidArbiter}.
      *
      * @param body - One of the two interacting bodies, or `null` for the combined impulse.
-     * @param freshOnly - When `true`, only count fresh (new) contacts. Default `false`.
+     * @param _freshOnly - When `true`, only count fresh (new) contacts. Default `false`.
      */
     totalImpulse(body?: Body | null, _freshOnly?: boolean): Vec3;
     toString(): string;
@@ -3627,6 +3660,194 @@ declare class PulleyJoint extends Constraint {
     visitBodies(lambda: (body: Body) => void): void;
 }
 
+/**
+ * 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.
+ */
+declare class ZPP_Constraint {
+    static __name__: string[];
+    /**
+     * 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.)
+     */
+    static _nape: any;
+    static _zpp: any;
+    outer: any;
+    id: number;
+    userData: any;
+    compound: any;
+    space: any;
+    active: boolean;
+    stiff: boolean;
+    frequency: number;
+    damping: number;
+    maxForce: number;
+    maxError: number;
+    breakUnderForce: boolean;
+    breakUnderError: boolean;
+    removeOnBreak: boolean;
+    component: any;
+    ignore: boolean;
+    __velocity: boolean;
+    cbTypes: any;
+    cbSet: any;
+    wrap_cbTypes: any;
+    pre_dt: number;
+    __class__: any;
+    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;
+    clear(): void;
+    activeBodies(): void;
+    inactiveBodies(): void;
+    clearcache(): void;
+    validate(): void;
+    wake_connected(): void;
+    forest(): void;
+    broken(): void;
+    warmStart(): void;
+    draw(_g: any): void;
+    pair_exists(_id: any, _di: any): boolean;
+    preStep(_dt: number): boolean;
+    applyImpulseVel(): boolean;
+    applyImpulsePos(): boolean;
+    copy(_dict?: any, _todo?: any): any;
+    immutable_midstep(name: string): void;
+    setupcbTypes(): void;
+    immutable_cbTypes(): void;
+    wrap_cbTypes_subber(pcb: any): void;
+    wrap_cbTypes_adder(cb: any): boolean;
+    insert_cbtype(cb: any): void;
+    alloc_cbSet(): void;
+    dealloc_cbSet(): void;
+    activate(): void;
+    deactivate(): void;
+    addedToSpace(): void;
+    removedFromSpace(): void;
+    activeInSpace(): void;
+    inactiveOrOutSpace(): void;
+    wake(): void;
+    copyto(ret: any): void;
+    static _findRoot(comp: any): any;
+    static _unionComponents(a: any, b: any): void;
+}
+
+/**
+ * ZPP_UserBody — pairs a body with a reference count for user constraints.
+ *
+ * Converted from nape-compiled.js lines 28038–28054.
+ */
+declare class ZPP_UserBody {
+    static __name__: string[];
+    cnt: number;
+    body: any;
+    constructor(cnt: number, body: any);
+}
+
+/**
+ * ZPP_UserConstraint — Internal N-DOF user-defined constraint with Cholesky decomposition.
+ *
+ * A generic constraint where the user supplies callbacks for effective mass,
+ * velocity/position errors, impulse application, and clamping.  The solver
+ * factorises the effective-mass matrix via Cholesky (solve/transform) and
+ * drives the constraint each step through warmStart / applyImpulseVel /
+ * applyImpulsePos.
+ *
+ * Converted from nape-compiled.js lines 27368–28037.
+ */
+
+declare class ZPP_UserConstraint extends ZPP_Constraint {
+    static __name__: string[];
+    static __super__: typeof ZPP_Constraint;
+    outer_zn: any;
+    bodies: ZPP_UserBody[];
+    dim: number;
+    jAcc: number[];
+    bias: number[];
+    stepped: boolean;
+    L: number[];
+    y: number[];
+    soft: number;
+    gamma: number;
+    velonly: boolean;
+    jMax: number;
+    Keff: number[];
+    vec3: any;
+    J: number[];
+    jOld: number[];
+    __class__: any;
+    constructor(dim: number, velonly: boolean);
+    bindVec2_invalidate(_: any): void;
+    addBody(b: any): void;
+    remBody(b: any): boolean;
+    bodyImpulse(b: any): any;
+    activeBodies(): void;
+    inactiveBodies(): void;
+    copy(_dict: any, _todo: any): any;
+    validate(): void;
+    wake_connected(): void;
+    forest(): void;
+    pair_exists(id: number, di: number): boolean;
+    broken(): void;
+    clearcache(): void;
+    lsq(v: number[]): number;
+    _clamp(v: number[], max: number): void;
+    solve(m: number[]): number[];
+    transform(L: number[], x: number[]): void;
+    preStep(dt: number): boolean;
+    warmStart(): void;
+    applyImpulseVel(): boolean;
+    applyImpulsePos(): boolean;
+    draw(g: any): void;
+}
+
+/**
+ * Base class for user-defined N-DOF constraints.
+ *
+ * Fully modernized — uses ZPP_UserConstraint directly (extracted to TypeScript).
+ * Subclass and override the abstract callback methods to define custom constraints.
+ */
+declare abstract class UserConstraint extends Constraint {
+    zpp_inner: ZPP_UserConstraint;
+    constructor(dimensions: number, velocityOnly?: boolean);
+    __bindVec2(): Vec2;
+    /** Create a copy of this constraint. Must be overridden. */
+    __copy(): UserConstraint;
+    /** Called when the constraint breaks. Optional override. */
+    __broken(): void;
+    /** Called to validate the constraint. Optional override. */
+    __validate(): void;
+    /** Draw debug visualization. Optional override. */
+    __draw(_debug: any): void;
+    /** Prepare the constraint for solving. Optional override. */
+    __prepare(): void;
+    /** Compute positional error. Must be overridden for non-velocity-only constraints. */
+    __position(_err: number[]): void;
+    /** Compute velocity error. Must be overridden. */
+    __velocity(_err: number[]): void;
+    /** Compute effective mass matrix (upper triangle). Must be overridden. */
+    __eff_mass(_eff: number[]): void;
+    /** Clamp accumulated impulse. Optional override. */
+    __clamp(_jAcc: number[]): void;
+    /** Apply impulse to a body. Must be overridden. */
+    __impulse(_imp: number[], _body: Body, _out: any): void;
+    impulse(): MatMN;
+    bodyImpulse(body: Body): Vec3;
+    visitBodies(lambda: (body: Body) => void): void;
+    __invalidate(): void;
+    __registerBody(oldBody: Body | null, newBody: Body | null): Body | null;
+}
+
 declare const VERSION: string;
 
-export { AABB, AngleJoint, Arbiter, ArbiterType, Body, BodyCallback, BodyListener, BodyType, Broadphase, Callback, CbEvent, CbType, Circle, CollisionArbiter, Compound, Constraint, ConstraintCallback, ConstraintListener, Contact, ConvexResult, DistanceJoint, Edge, FluidArbiter, FluidProperties, Geom, GeomPoly, GravMassMode, InertiaMode, InteractionCallback, InteractionFilter, InteractionGroup, InteractionListener, InteractionType, Interactor, LineJoint, Listener, ListenerType, MarchingSquares, MassMode, Mat23, MatMN, Material, MotorJoint, NapeList, OptionType, PivotJoint, Polygon, PreCallback, PreFlag, PreListener, PulleyJoint, Ray, RayResult, Shape, ShapeType, Space, VERSION, ValidationResult, Vec2, Vec3, WeldJoint, Winding };
+export { AABB, AngleJoint, Arbiter, ArbiterType, Body, BodyCallback, BodyListener, BodyType, Broadphase, Callback, CbEvent, CbType, type CbTypeSet, Circle, CollisionArbiter, Compound, Constraint, ConstraintCallback, ConstraintListener, Contact, ConvexResult, DistanceJoint, Edge, FluidArbiter, FluidProperties, Geom, GeomPoly, GravMassMode, InertiaMode, InteractionCallback, InteractionFilter, InteractionGroup, InteractionListener, InteractionType, Interactor, LineJoint, Listener, ListenerType, MarchingSquares, MassMode, Mat23, MatMN, Material, MotorJoint, NapeList, OptionType, PivotJoint, Polygon, PreCallback, PreFlag, PreListener, PulleyJoint, Ray, RayResult, Shape, ShapeType, Space, UserConstraint, VERSION, ValidationResult, Vec2, Vec3, WeldJoint, Winding };