@nice2dev/game-engine 1.3.15 → 1.3.17

package/dist/esm/native-engine/PhysicsEngine.js

@@ -1,618 +1,597 @@
-/**
- * @file PhysicsEngine.ts
- * @description Physics Engine for Nice2Dev Game Engine
- * PRO-1.11.2: Physics Engine
- *
- * Features:
- * - 3D Physics (Rapier.js integration)
- * - 2D Physics (Box2D/Matter.js integration)
- * - Rigid bodies, colliders, joints
- * - Character controller
- * - Raycasting, shapecasting
- * - Trigger volumes
- */
-// ============================================================
-// Physics World
-// ============================================================
 class PhysicsWorld {
-    constructor(config) {
-        this.bodies = new Map();
-        this.colliders = new Map();
-        this.joints = new Map();
-        this.controllers = new Map();
-        this.eventQueue = [];
-        this.callbacks = {};
-        this.nextId = 1;
-        this.config = {
-            gravity: { x: 0, y: -9.81, z: 0 },
-            timestep: 1 / 60,
-            substeps: 4,
-            maxVelocity: 500,
-            maxAngularVelocity: 100,
-            sleepThreshold: 0.005,
-            defaultRestitution: 0.3,
-            defaultFriction: 0.5,
-            defaultDensity: 1.0,
-            contactOffset: 0.02,
-            separationOffset: 0.01,
-            maxStabilizationIterations: 4,
-            ccdEnabled: true,
-            ccdThreshold: 0.001,
-            ...config,
-        };
-    }
-    // ─── Simulation ────────────────────────────────────────
-    step(deltaTime) {
-        const dt = deltaTime ?? this.config.timestep;
-        const substepDt = dt / this.config.substeps;
-        for (let i = 0; i < this.config.substeps; i++) {
-            this.stepInternal(substepDt);
+  constructor(config) {
+    this.bodies = /* @__PURE__ */ new Map();
+    this.colliders = /* @__PURE__ */ new Map();
+    this.joints = /* @__PURE__ */ new Map();
+    this.controllers = /* @__PURE__ */ new Map();
+    this.eventQueue = [];
+    this.callbacks = {};
+    this.nextId = 1;
+    this.config = {
+      gravity: { x: 0, y: -9.81, z: 0 },
+      timestep: 1 / 60,
+      substeps: 4,
+      maxVelocity: 500,
+      maxAngularVelocity: 100,
+      sleepThreshold: 5e-3,
+      defaultRestitution: 0.3,
+      defaultFriction: 0.5,
+      defaultDensity: 1,
+      contactOffset: 0.02,
+      separationOffset: 0.01,
+      maxStabilizationIterations: 4,
+      ccdEnabled: true,
+      ccdThreshold: 1e-3,
+      ...config
+    };
+  }
+  // ─── Simulation ────────────────────────────────────────
+  step(deltaTime) {
+    const dt = deltaTime ?? this.config.timestep;
+    const substepDt = dt / this.config.substeps;
+    for (let i = 0; i < this.config.substeps; i++) {
+      this.stepInternal(substepDt);
+    }
+    this.processEvents();
+  }
+  stepInternal(_dt) {
+  }
+  processEvents() {
+    for (const event of this.eventQueue) {
+      switch (event.type) {
+        case "collision-start":
+          this.callbacks.onCollisionStart?.(event.collider1, event.collider2, event.contacts);
+          break;
+        case "collision-end":
+          this.callbacks.onCollisionEnd?.(event.collider1, event.collider2);
+          break;
+        case "trigger-enter":
+          this.callbacks.onTriggerEnter?.(event.trigger, event.other);
+          break;
+        case "trigger-exit":
+          this.callbacks.onTriggerExit?.(event.trigger, event.other);
+          break;
+        case "joint-broken":
+          this.callbacks.onJointBroken?.(event.joint);
+          break;
+      }
+    }
+    this.eventQueue = [];
+  }
+  // ─── Rigid Bodies ──────────────────────────────────────
+  createRigidBody(descriptor) {
+    const id = this.nextId++;
+    const body = this.createRigidBodyInternal(id, descriptor);
+    this.bodies.set(id, body);
+    return body;
+  }
+  createRigidBodyInternal(id, descriptor) {
+    const self = this;
+    const type = descriptor.type;
+    let position = { ...descriptor.position };
+    let rotation = { ...descriptor.rotation };
+    let linearVelocity = descriptor.linearVelocity ? { ...descriptor.linearVelocity } : { x: 0, y: 0, z: 0 };
+    let angularVelocity = descriptor.angularVelocity ? { ...descriptor.angularVelocity } : { x: 0, y: 0, z: 0 };
+    let linearDamping = descriptor.linearDamping ?? 0;
+    let angularDamping = descriptor.angularDamping ?? 0;
+    let gravityScale = descriptor.gravityScale ?? 1;
+    let sleeping = false;
+    let enabled = true;
+    let mass = 1;
+    const colliders = [];
+    let userData = descriptor.userData;
+    return {
+      id,
+      type,
+      getPosition: () => ({ ...position }),
+      setPosition: (p) => {
+        position = { ...p };
+      },
+      getRotation: () => ({ ...rotation }),
+      setRotation: (r) => {
+        rotation = { ...r };
+      },
+      getTransform: () => ({ position: { ...position }, rotation: { ...rotation } }),
+      setTransform: (p, r) => {
+        position = { ...p };
+        rotation = { ...r };
+      },
+      getLinearVelocity: () => ({ ...linearVelocity }),
+      setLinearVelocity: (v) => {
+        linearVelocity = { ...v };
+      },
+      getAngularVelocity: () => ({ ...angularVelocity }),
+      setAngularVelocity: (v) => {
+        angularVelocity = { ...v };
+      },
+      applyForce: (f, w = true) => {
+        if (w) {
+          sleeping = false;
         }
-        this.processEvents();
-    }
-    stepInternal(_dt) {
-        // Integrate velocities, solve constraints, update positions
-        // This would call into Rapier.js or similar physics library
-    }
-    processEvents() {
-        for (const event of this.eventQueue) {
-            switch (event.type) {
-                case 'collision-start':
-                    this.callbacks.onCollisionStart?.(event.collider1, event.collider2, event.contacts);
-                    break;
-                case 'collision-end':
-                    this.callbacks.onCollisionEnd?.(event.collider1, event.collider2);
-                    break;
-                case 'trigger-enter':
-                    this.callbacks.onTriggerEnter?.(event.trigger, event.other);
-                    break;
-                case 'trigger-exit':
-                    this.callbacks.onTriggerExit?.(event.trigger, event.other);
-                    break;
-                case 'joint-broken':
-                    this.callbacks.onJointBroken?.(event.joint);
-                    break;
-            }
+        linearVelocity.x += f.x;
+        linearVelocity.y += f.y;
+        linearVelocity.z += f.z;
+      },
+      applyForceAtPoint: (_f, _p, w = true) => {
+        if (w) {
+          sleeping = false;
         }
-        this.eventQueue = [];
-    }
-    // ─── Rigid Bodies ──────────────────────────────────────
-    createRigidBody(descriptor) {
-        const id = this.nextId++;
-        const body = this.createRigidBodyInternal(id, descriptor);
-        this.bodies.set(id, body);
-        return body;
-    }
-    createRigidBodyInternal(id, descriptor) {
-        // eslint-disable-next-line @typescript-eslint/no-this-alias
-        const self = this;
-        const type = descriptor.type;
-        let position = { ...descriptor.position };
-        let rotation = { ...descriptor.rotation };
-        let linearVelocity = descriptor.linearVelocity
-            ? { ...descriptor.linearVelocity }
-            : { x: 0, y: 0, z: 0 };
-        let angularVelocity = descriptor.angularVelocity
-            ? { ...descriptor.angularVelocity }
-            : { x: 0, y: 0, z: 0 };
-        let linearDamping = descriptor.linearDamping ?? 0;
-        let angularDamping = descriptor.angularDamping ?? 0;
-        let gravityScale = descriptor.gravityScale ?? 1;
-        let sleeping = false;
-        let enabled = true;
-        let mass = 1;
-        const colliders = [];
-        let userData = descriptor.userData;
-        return {
-            id,
-            type,
-            getPosition: () => ({ ...position }),
-            setPosition: (p) => {
-                position = { ...p };
-            },
-            getRotation: () => ({ ...rotation }),
-            setRotation: (r) => {
-                rotation = { ...r };
-            },
-            getTransform: () => ({ position: { ...position }, rotation: { ...rotation } }),
-            setTransform: (p, r) => {
-                position = { ...p };
-                rotation = { ...r };
-            },
-            getLinearVelocity: () => ({ ...linearVelocity }),
-            setLinearVelocity: (v) => {
-                linearVelocity = { ...v };
-            },
-            getAngularVelocity: () => ({ ...angularVelocity }),
-            setAngularVelocity: (v) => {
-                angularVelocity = { ...v };
-            },
-            applyForce: (f, w = true) => {
-                if (w) {
-                    sleeping = false;
-                }
-                linearVelocity.x += f.x;
-                linearVelocity.y += f.y;
-                linearVelocity.z += f.z;
-            },
-            applyForceAtPoint: (_f, _p, w = true) => {
-                if (w) {
-                    sleeping = false;
-                }
-            },
-            applyImpulse: (i, w = true) => {
-                if (w) {
-                    sleeping = false;
-                }
-                linearVelocity.x += i.x / mass;
-                linearVelocity.y += i.y / mass;
-                linearVelocity.z += i.z / mass;
-            },
-            applyImpulseAtPoint: (_i, _p, w = true) => {
-                if (w) {
-                    sleeping = false;
-                }
-            },
-            applyTorque: (_t, w = true) => {
-                if (w) {
-                    sleeping = false;
-                }
-            },
-            applyTorqueImpulse: (_i, w = true) => {
-                if (w) {
-                    sleeping = false;
-                }
-            },
-            getMass: () => mass,
-            setMass: (m) => {
-                mass = m;
-            },
-            getInertia: () => ({ x: 1, y: 1, z: 1 }),
-            setCenterOfMass: (_c) => { },
-            isSleeping: () => sleeping,
-            wakeUp: () => {
-                sleeping = false;
-            },
-            sleep: () => {
-                sleeping = true;
-            },
-            isEnabled: () => enabled,
-            setEnabled: (e) => {
-                enabled = e;
-            },
-            getLinearDamping: () => linearDamping,
-            setLinearDamping: (d) => {
-                linearDamping = d;
-            },
-            getAngularDamping: () => angularDamping,
-            setAngularDamping: (d) => {
-                angularDamping = d;
-            },
-            getGravityScale: () => gravityScale,
-            setGravityScale: (s) => {
-                gravityScale = s;
-            },
-            getColliders: () => [...colliders],
-            addCollider: (desc) => {
-                const collider = self.createColliderInternal(self.nextId++, desc, id);
-                colliders.push(collider);
-                self.colliders.set(collider.id, collider);
-                return collider;
-            },
-            removeCollider: (c) => {
-                const idx = colliders.indexOf(c);
-                if (idx >= 0) {
-                    colliders.splice(idx, 1);
-                    self.colliders.delete(c.id);
-                }
-            },
-            getUserData: () => userData,
-            setUserData: (d) => {
-                userData = d;
-            },
-        };
-    }
-    removeRigidBody(body) {
-        // Remove associated colliders
-        for (const collider of body.getColliders()) {
-            this.colliders.delete(collider.id);
+      },
+      applyImpulse: (i, w = true) => {
+        if (w) {
+          sleeping = false;
         }
-        this.bodies.delete(body.id);
-    }
-    getRigidBody(id) {
-        return this.bodies.get(id);
-    }
-    // ─── Colliders ─────────────────────────────────────────
-    createCollider(descriptor, body) {
-        const id = this.nextId++;
-        const collider = this.createColliderInternal(id, descriptor, body?.id);
-        this.colliders.set(id, collider);
+        linearVelocity.x += i.x / mass;
+        linearVelocity.y += i.y / mass;
+        linearVelocity.z += i.z / mass;
+      },
+      applyImpulseAtPoint: (_i, _p, w = true) => {
+        if (w) {
+          sleeping = false;
+        }
+      },
+      applyTorque: (_t, w = true) => {
+        if (w) {
+          sleeping = false;
+        }
+      },
+      applyTorqueImpulse: (_i, w = true) => {
+        if (w) {
+          sleeping = false;
+        }
+      },
+      getMass: () => mass,
+      setMass: (m) => {
+        mass = m;
+      },
+      getInertia: () => ({ x: 1, y: 1, z: 1 }),
+      setCenterOfMass: (_c) => {
+      },
+      isSleeping: () => sleeping,
+      wakeUp: () => {
+        sleeping = false;
+      },
+      sleep: () => {
+        sleeping = true;
+      },
+      isEnabled: () => enabled,
+      setEnabled: (e) => {
+        enabled = e;
+      },
+      getLinearDamping: () => linearDamping,
+      setLinearDamping: (d) => {
+        linearDamping = d;
+      },
+      getAngularDamping: () => angularDamping,
+      setAngularDamping: (d) => {
+        angularDamping = d;
+      },
+      getGravityScale: () => gravityScale,
+      setGravityScale: (s) => {
+        gravityScale = s;
+      },
+      getColliders: () => [...colliders],
+      addCollider: (desc) => {
+        const collider = self.createColliderInternal(self.nextId++, desc, id);
+        colliders.push(collider);
+        self.colliders.set(collider.id, collider);
         return collider;
-    }
-    createColliderInternal(id, descriptor, _parentBodyId) {
-        let offset = descriptor.offset ? { ...descriptor.offset } : { x: 0, y: 0, z: 0 };
-        let rotation = descriptor.rotation ? { ...descriptor.rotation } : { x: 0, y: 0, z: 0, w: 1 };
-        let friction = descriptor.friction ?? this.config.defaultFriction;
-        let restitution = descriptor.restitution ?? this.config.defaultRestitution;
-        let density = descriptor.density ?? this.config.defaultDensity;
-        let isSensor = descriptor.isSensor ?? false;
-        let collisionGroups = descriptor.collisionGroups ?? 0xffffffff;
-        let collisionMask = descriptor.collisionMask ?? 0xffffffff;
-        let userData = descriptor.userData;
-        return {
-            id,
-            shape: descriptor.shape,
-            getOffset: () => ({ ...offset }),
-            setOffset: (o) => {
-                offset = { ...o };
-            },
-            getRotation: () => ({ ...rotation }),
-            setRotation: (r) => {
-                rotation = { ...r };
-            },
-            getFriction: () => friction,
-            setFriction: (f) => {
-                friction = f;
-            },
-            getRestitution: () => restitution,
-            setRestitution: (r) => {
-                restitution = r;
-            },
-            getDensity: () => density,
-            setDensity: (d) => {
-                density = d;
-            },
-            isSensor: () => isSensor,
-            setSensor: (s) => {
-                isSensor = s;
-            },
-            getCollisionGroups: () => collisionGroups,
-            setCollisionGroups: (g) => {
-                collisionGroups = g;
-            },
-            getCollisionMask: () => collisionMask,
-            setCollisionMask: (m) => {
-                collisionMask = m;
-            },
-            getAABB: () => ({ min: { x: -1, y: -1, z: -1 }, max: { x: 1, y: 1, z: 1 } }),
-            getParentBody: () => null,
-            getUserData: () => userData,
-            setUserData: (d) => {
-                userData = d;
-            },
-        };
-    }
-    removeCollider(collider) {
-        this.colliders.delete(collider.id);
-    }
-    getCollider(id) {
-        return this.colliders.get(id);
-    }
-    // ─── Joints ────────────────────────────────────────────
-    createJoint(descriptor) {
-        const id = this.nextId++;
-        const joint = this.createJointInternal(id, descriptor);
-        this.joints.set(id, joint);
-        return joint;
-    }
-    createJointInternal(id, descriptor) {
-        let limitEnabled = descriptor.enableLimit ?? false;
-        let lowerLimit = descriptor.lowerLimit ?? 0;
-        let upperLimit = descriptor.upperLimit ?? 0;
-        let motorEnabled = descriptor.enableMotor ?? false;
-        let motorVelocity = descriptor.targetVelocity ?? 0;
-        let motorMaxForce = descriptor.maxForce ?? 0;
-        let enabled = true;
-        const broken = false;
-        let userData = descriptor.userData;
-        return {
-            id,
-            type: descriptor.type,
-            getBody1: () => descriptor.body1,
-            getBody2: () => descriptor.body2,
-            isLimitEnabled: () => limitEnabled,
-            enableLimit: (e) => {
-                limitEnabled = e;
-            },
-            getLimits: () => ({ lower: lowerLimit, upper: upperLimit }),
-            setLimits: (l, u) => {
-                lowerLimit = l;
-                upperLimit = u;
-            },
-            isMotorEnabled: () => motorEnabled,
-            enableMotor: (e) => {
-                motorEnabled = e;
-            },
-            getMotorTargetVelocity: () => motorVelocity,
-            setMotorTargetVelocity: (v) => {
-                motorVelocity = v;
-            },
-            getMotorMaxForce: () => motorMaxForce,
-            setMotorMaxForce: (f) => {
-                motorMaxForce = f;
-            },
-            isEnabled: () => enabled,
-            setEnabled: (e) => {
-                enabled = e;
-            },
-            isBroken: () => broken,
-            getUserData: () => userData,
-            setUserData: (d) => {
-                userData = d;
-            },
-        };
-    }
-    removeJoint(joint) {
-        this.joints.delete(joint.id);
-    }
-    getJoint(id) {
-        return this.joints.get(id);
-    }
-    // ─── Character Controllers ─────────────────────────────
-    createCharacterController(descriptor) {
-        const id = this.nextId++;
-        const controller = this.createCharacterControllerInternal(id, descriptor);
-        this.controllers.set(id, controller);
-        return controller;
-    }
-    createCharacterControllerInternal(id, descriptor) {
-        let position = descriptor.offset ? { ...descriptor.offset } : { x: 0, y: 0, z: 0 };
-        let height = descriptor.height;
-        let radius = descriptor.radius;
-        let slopeLimit = descriptor.slopeLimit;
-        let stepOffset = descriptor.stepOffset;
-        let grounded = false;
-        let groundNormal = null;
-        let groundDistance = 0;
-        let velocity = { x: 0, y: 0, z: 0 };
-        let enabled = true;
-        let userData = descriptor.userData;
-        return {
-            id,
-            getPosition: () => ({ ...position }),
-            setPosition: (p) => {
-                position = { ...p };
-            },
-            move: (displacement) => {
-                position.x += displacement.x;
-                position.y += displacement.y;
-                position.z += displacement.z;
-                velocity = { ...displacement };
-                // Simulate ground detection
-                grounded = position.y <= 0.01;
-                if (grounded) {
-                    groundNormal = { x: 0, y: 1, z: 0 };
-                    groundDistance = 0;
-                    position.y = 0;
-                }
-                return {
-                    movedDown: displacement.y < 0,
-                    movedUp: displacement.y > 0,
-                    movedSides: displacement.x !== 0 || displacement.z !== 0,
-                    hitGround: grounded,
-                    hitCeiling: false,
-                    hitWall: false,
-                    slideOnSlope: false,
-                };
-            },
-            isGrounded: () => grounded,
-            getGroundNormal: () => (groundNormal ? { ...groundNormal } : null),
-            getGroundDistance: () => groundDistance,
-            getSlidingNormal: () => null,
-            getHeight: () => height,
-            setHeight: (h) => {
-                height = h;
-            },
-            getRadius: () => radius,
-            setRadius: (r) => {
-                radius = r;
-            },
-            getSlopeLimit: () => slopeLimit,
-            setSlopeLimit: (a) => {
-                slopeLimit = a;
-            },
-            getStepOffset: () => stepOffset,
-            setStepOffset: (o) => {
-                stepOffset = o;
-            },
-            getVelocity: () => ({ ...velocity }),
-            isEnabled: () => enabled,
-            setEnabled: (e) => {
-                enabled = e;
-            },
-            getUserData: () => userData,
-            setUserData: (d) => {
-                userData = d;
-            },
-        };
-    }
-    removeCharacterController(controller) {
-        this.controllers.delete(controller.id);
-    }
-    // ─── Queries ───────────────────────────────────────────
-    raycast(origin, direction, maxDistance = Infinity, groups, mask) {
-        // Raycast against all colliders
-        let closest = null;
-        for (const collider of this.colliders.values()) {
-            if (groups !== undefined && (collider.getCollisionGroups() & mask) === 0) {
-                continue;
-            }
-            if (mask !== undefined && (collider.getCollisionMask() & groups) === 0) {
-                continue;
-            }
-            const hit = this.raycastCollider(origin, direction, maxDistance, collider);
-            if (hit && (!closest || hit.distance < closest.distance)) {
-                closest = hit;
-            }
+      },
+      removeCollider: (c) => {
+        const idx = colliders.indexOf(c);
+        if (idx >= 0) {
+          colliders.splice(idx, 1);
+          self.colliders.delete(c.id);
         }
-        return closest;
-    }
-    raycastAll(origin, direction, maxDistance = Infinity, groups, mask) {
-        const hits = [];
-        for (const collider of this.colliders.values()) {
-            if (groups !== undefined && (collider.getCollisionGroups() & mask) === 0) {
-                continue;
-            }
-            if (mask !== undefined && (collider.getCollisionMask() & groups) === 0) {
-                continue;
-            }
-            const hit = this.raycastCollider(origin, direction, maxDistance, collider);
-            if (hit) {
-                hits.push(hit);
-            }
+      },
+      getUserData: () => userData,
+      setUserData: (d) => {
+        userData = d;
+      }
+    };
+  }
+  removeRigidBody(body) {
+    for (const collider of body.getColliders()) {
+      this.colliders.delete(collider.id);
+    }
+    this.bodies.delete(body.id);
+  }
+  getRigidBody(id) {
+    return this.bodies.get(id);
+  }
+  // ─── Colliders ─────────────────────────────────────────
+  createCollider(descriptor, body) {
+    const id = this.nextId++;
+    const collider = this.createColliderInternal(id, descriptor, body?.id);
+    this.colliders.set(id, collider);
+    return collider;
+  }
+  createColliderInternal(id, descriptor, _parentBodyId) {
+    let offset = descriptor.offset ? { ...descriptor.offset } : { x: 0, y: 0, z: 0 };
+    let rotation = descriptor.rotation ? { ...descriptor.rotation } : { x: 0, y: 0, z: 0, w: 1 };
+    let friction = descriptor.friction ?? this.config.defaultFriction;
+    let restitution = descriptor.restitution ?? this.config.defaultRestitution;
+    let density = descriptor.density ?? this.config.defaultDensity;
+    let isSensor = descriptor.isSensor ?? false;
+    let collisionGroups = descriptor.collisionGroups ?? 4294967295;
+    let collisionMask = descriptor.collisionMask ?? 4294967295;
+    let userData = descriptor.userData;
+    return {
+      id,
+      shape: descriptor.shape,
+      getOffset: () => ({ ...offset }),
+      setOffset: (o) => {
+        offset = { ...o };
+      },
+      getRotation: () => ({ ...rotation }),
+      setRotation: (r) => {
+        rotation = { ...r };
+      },
+      getFriction: () => friction,
+      setFriction: (f) => {
+        friction = f;
+      },
+      getRestitution: () => restitution,
+      setRestitution: (r) => {
+        restitution = r;
+      },
+      getDensity: () => density,
+      setDensity: (d) => {
+        density = d;
+      },
+      isSensor: () => isSensor,
+      setSensor: (s) => {
+        isSensor = s;
+      },
+      getCollisionGroups: () => collisionGroups,
+      setCollisionGroups: (g) => {
+        collisionGroups = g;
+      },
+      getCollisionMask: () => collisionMask,
+      setCollisionMask: (m) => {
+        collisionMask = m;
+      },
+      getAABB: () => ({ min: { x: -1, y: -1, z: -1 }, max: { x: 1, y: 1, z: 1 } }),
+      getParentBody: () => null,
+      getUserData: () => userData,
+      setUserData: (d) => {
+        userData = d;
+      }
+    };
+  }
+  removeCollider(collider) {
+    this.colliders.delete(collider.id);
+  }
+  getCollider(id) {
+    return this.colliders.get(id);
+  }
+  // ─── Joints ────────────────────────────────────────────
+  createJoint(descriptor) {
+    const id = this.nextId++;
+    const joint = this.createJointInternal(id, descriptor);
+    this.joints.set(id, joint);
+    return joint;
+  }
+  createJointInternal(id, descriptor) {
+    let limitEnabled = descriptor.enableLimit ?? false;
+    let lowerLimit = descriptor.lowerLimit ?? 0;
+    let upperLimit = descriptor.upperLimit ?? 0;
+    let motorEnabled = descriptor.enableMotor ?? false;
+    let motorVelocity = descriptor.targetVelocity ?? 0;
+    let motorMaxForce = descriptor.maxForce ?? 0;
+    let enabled = true;
+    const broken = false;
+    let userData = descriptor.userData;
+    return {
+      id,
+      type: descriptor.type,
+      getBody1: () => descriptor.body1,
+      getBody2: () => descriptor.body2,
+      isLimitEnabled: () => limitEnabled,
+      enableLimit: (e) => {
+        limitEnabled = e;
+      },
+      getLimits: () => ({ lower: lowerLimit, upper: upperLimit }),
+      setLimits: (l, u) => {
+        lowerLimit = l;
+        upperLimit = u;
+      },
+      isMotorEnabled: () => motorEnabled,
+      enableMotor: (e) => {
+        motorEnabled = e;
+      },
+      getMotorTargetVelocity: () => motorVelocity,
+      setMotorTargetVelocity: (v) => {
+        motorVelocity = v;
+      },
+      getMotorMaxForce: () => motorMaxForce,
+      setMotorMaxForce: (f) => {
+        motorMaxForce = f;
+      },
+      isEnabled: () => enabled,
+      setEnabled: (e) => {
+        enabled = e;
+      },
+      isBroken: () => broken,
+      getUserData: () => userData,
+      setUserData: (d) => {
+        userData = d;
+      }
+    };
+  }
+  removeJoint(joint) {
+    this.joints.delete(joint.id);
+  }
+  getJoint(id) {
+    return this.joints.get(id);
+  }
+  // ─── Character Controllers ─────────────────────────────
+  createCharacterController(descriptor) {
+    const id = this.nextId++;
+    const controller = this.createCharacterControllerInternal(id, descriptor);
+    this.controllers.set(id, controller);
+    return controller;
+  }
+  createCharacterControllerInternal(id, descriptor) {
+    let position = descriptor.offset ? { ...descriptor.offset } : { x: 0, y: 0, z: 0 };
+    let height = descriptor.height;
+    let radius = descriptor.radius;
+    let slopeLimit = descriptor.slopeLimit;
+    let stepOffset = descriptor.stepOffset;
+    let grounded = false;
+    let groundNormal = null;
+    let groundDistance = 0;
+    let velocity = { x: 0, y: 0, z: 0 };
+    let enabled = true;
+    let userData = descriptor.userData;
+    return {
+      id,
+      getPosition: () => ({ ...position }),
+      setPosition: (p) => {
+        position = { ...p };
+      },
+      move: (displacement) => {
+        position.x += displacement.x;
+        position.y += displacement.y;
+        position.z += displacement.z;
+        velocity = { ...displacement };
+        grounded = position.y <= 0.01;
+        if (grounded) {
+          groundNormal = { x: 0, y: 1, z: 0 };
+          groundDistance = 0;
+          position.y = 0;
         }
-        hits.sort((a, b) => a.distance - b.distance);
-        return hits;
-    }
-    raycastCollider(_origin, _direction, _maxDistance, collider) {
-        // Simplified raycast - in real implementation would use actual geometry
-        collider.getAABB();
-        // ... ray-AABB intersection
         return {
-            collider,
-            point: { x: 0, y: 0, z: 0 },
-            normal: { x: 0, y: 1, z: 0 },
-            distance: 1,
+          movedDown: displacement.y < 0,
+          movedUp: displacement.y > 0,
+          movedSides: displacement.x !== 0 || displacement.z !== 0,
+          hitGround: grounded,
+          hitCeiling: false,
+          hitWall: false,
+          slideOnSlope: false
         };
-    }
-    spherecast(origin, radius, direction, maxDistance = Infinity) {
-        // Sweep a sphere through the world
-        return this.shapecast({ type: 'sphere', radius }, origin, direction, maxDistance);
-    }
-    boxcast(origin, halfExtents, rotation, direction, maxDistance = Infinity) {
-        return this.shapecast({ type: 'box', halfExtents, rotation }, origin, direction, maxDistance);
-    }
-    shapecast(_shape, _origin, _direction, _maxDistance) {
-        // Generic shape sweep
-        return null;
-    }
-    overlapSphere(center, radius, groups, mask) {
-        return this.overlapShape({ type: 'sphere', center, radius }, groups, mask);
-    }
-    overlapBox(center, halfExtents, rotation, groups, mask) {
-        return this.overlapShape({ type: 'box', center, halfExtents, rotation }, groups, mask);
-    }
-    overlapShape(_shape, _groups, _mask) {
-        return [];
-    }
-    // ─── Contact Queries ───────────────────────────────────
-    getContactPairs() {
-        // Return all active contact pairs
-        return [];
-    }
-    getContactsForCollider(_collider) {
-        return [];
-    }
-    // ─── Configuration ─────────────────────────────────────
-    setGravity(gravity) {
-        this.config.gravity = { ...gravity };
-    }
-    getGravity() {
-        return { ...this.config.gravity };
-    }
-    setTimestep(timestep) {
-        this.config.timestep = timestep;
-    }
-    getTimestep() {
-        return this.config.timestep;
-    }
-    // ─── Callbacks ─────────────────────────────────────────
-    setCallbacks(callbacks) {
-        this.callbacks = { ...this.callbacks, ...callbacks };
-    }
-    // ─── Debug ─────────────────────────────────────────────
-    getDebugLines() {
-        const lines = [];
-        // Draw collider wireframes
-        for (const collider of this.colliders.values()) {
-            const aabb = collider.getAABB();
-            const color = collider.isSensor() ? { r: 0, g: 1, b: 0 } : { r: 0, g: 0, b: 1 };
-            lines.push(...this.getAABBLines(aabb, color));
-        }
-        return lines;
-    }
-    getAABBLines(aabb, color) {
-        const { min, max } = aabb;
-        const lines = [];
-        // Bottom face
-        lines.push({
-            start: { x: min.x, y: min.y, z: min.z },
-            end: { x: max.x, y: min.y, z: min.z },
-            color,
-        });
-        lines.push({
-            start: { x: max.x, y: min.y, z: min.z },
-            end: { x: max.x, y: min.y, z: max.z },
-            color,
-        });
-        lines.push({
-            start: { x: max.x, y: min.y, z: max.z },
-            end: { x: min.x, y: min.y, z: max.z },
-            color,
-        });
-        lines.push({
-            start: { x: min.x, y: min.y, z: max.z },
-            end: { x: min.x, y: min.y, z: min.z },
-            color,
-        });
-        // Top face
-        lines.push({
-            start: { x: min.x, y: max.y, z: min.z },
-            end: { x: max.x, y: max.y, z: min.z },
-            color,
-        });
-        lines.push({
-            start: { x: max.x, y: max.y, z: min.z },
-            end: { x: max.x, y: max.y, z: max.z },
-            color,
-        });
-        lines.push({
-            start: { x: max.x, y: max.y, z: max.z },
-            end: { x: min.x, y: max.y, z: max.z },
-            color,
-        });
-        lines.push({
-            start: { x: min.x, y: max.y, z: max.z },
-            end: { x: min.x, y: max.y, z: min.z },
-            color,
-        });
-        // Vertical edges
-        lines.push({
-            start: { x: min.x, y: min.y, z: min.z },
-            end: { x: min.x, y: max.y, z: min.z },
-            color,
-        });
-        lines.push({
-            start: { x: max.x, y: min.y, z: min.z },
-            end: { x: max.x, y: max.y, z: min.z },
-            color,
-        });
-        lines.push({
-            start: { x: max.x, y: min.y, z: max.z },
-            end: { x: max.x, y: max.y, z: max.z },
-            color,
-        });
-        lines.push({
-            start: { x: min.x, y: min.y, z: max.z },
-            end: { x: min.x, y: max.y, z: max.z },
-            color,
-        });
-        return lines;
-    }
-    // ─── Cleanup ───────────────────────────────────────────
-    dispose() {
-        this.bodies.clear();
-        this.colliders.clear();
-        this.joints.clear();
-        this.controllers.clear();
-        this.eventQueue = [];
-    }
+      },
+      isGrounded: () => grounded,
+      getGroundNormal: () => groundNormal ? { ...groundNormal } : null,
+      getGroundDistance: () => groundDistance,
+      getSlidingNormal: () => null,
+      getHeight: () => height,
+      setHeight: (h) => {
+        height = h;
+      },
+      getRadius: () => radius,
+      setRadius: (r) => {
+        radius = r;
+      },
+      getSlopeLimit: () => slopeLimit,
+      setSlopeLimit: (a) => {
+        slopeLimit = a;
+      },
+      getStepOffset: () => stepOffset,
+      setStepOffset: (o) => {
+        stepOffset = o;
+      },
+      getVelocity: () => ({ ...velocity }),
+      isEnabled: () => enabled,
+      setEnabled: (e) => {
+        enabled = e;
+      },
+      getUserData: () => userData,
+      setUserData: (d) => {
+        userData = d;
+      }
+    };
+  }
+  removeCharacterController(controller) {
+    this.controllers.delete(controller.id);
+  }
+  // ─── Queries ───────────────────────────────────────────
+  raycast(origin, direction, maxDistance = Infinity, groups, mask) {
+    let closest = null;
+    for (const collider of this.colliders.values()) {
+      if (groups !== void 0 && (collider.getCollisionGroups() & mask) === 0) {
+        continue;
+      }
+      if (mask !== void 0 && (collider.getCollisionMask() & groups) === 0) {
+        continue;
+      }
+      const hit = this.raycastCollider(origin, direction, maxDistance, collider);
+      if (hit && (!closest || hit.distance < closest.distance)) {
+        closest = hit;
+      }
+    }
+    return closest;
+  }
+  raycastAll(origin, direction, maxDistance = Infinity, groups, mask) {
+    const hits = [];
+    for (const collider of this.colliders.values()) {
+      if (groups !== void 0 && (collider.getCollisionGroups() & mask) === 0) {
+        continue;
+      }
+      if (mask !== void 0 && (collider.getCollisionMask() & groups) === 0) {
+        continue;
+      }
+      const hit = this.raycastCollider(origin, direction, maxDistance, collider);
+      if (hit) {
+        hits.push(hit);
+      }
+    }
+    hits.sort((a, b) => a.distance - b.distance);
+    return hits;
+  }
+  raycastCollider(_origin, _direction, _maxDistance, collider) {
+    collider.getAABB();
+    return {
+      collider,
+      point: { x: 0, y: 0, z: 0 },
+      normal: { x: 0, y: 1, z: 0 },
+      distance: 1
+    };
+  }
+  spherecast(origin, radius, direction, maxDistance = Infinity) {
+    return this.shapecast(
+      { type: "sphere", radius },
+      origin,
+      direction,
+      maxDistance
+    );
+  }
+  boxcast(origin, halfExtents, rotation, direction, maxDistance = Infinity) {
+    return this.shapecast(
+      { type: "box", halfExtents, rotation },
+      origin,
+      direction,
+      maxDistance
+    );
+  }
+  shapecast(_shape, _origin, _direction, _maxDistance) {
+    return null;
+  }
+  overlapSphere(center, radius, groups, mask) {
+    return this.overlapShape({ type: "sphere", center, radius }, groups, mask);
+  }
+  overlapBox(center, halfExtents, rotation, groups, mask) {
+    return this.overlapShape(
+      { type: "box", center, halfExtents, rotation },
+      groups,
+      mask
+    );
+  }
+  overlapShape(_shape, _groups, _mask) {
+    return [];
+  }
+  // ─── Contact Queries ───────────────────────────────────
+  getContactPairs() {
+    return [];
+  }
+  getContactsForCollider(_collider) {
+    return [];
+  }
+  // ─── Configuration ─────────────────────────────────────
+  setGravity(gravity) {
+    this.config.gravity = { ...gravity };
+  }
+  getGravity() {
+    return { ...this.config.gravity };
+  }
+  setTimestep(timestep) {
+    this.config.timestep = timestep;
+  }
+  getTimestep() {
+    return this.config.timestep;
+  }
+  // ─── Callbacks ─────────────────────────────────────────
+  setCallbacks(callbacks) {
+    this.callbacks = { ...this.callbacks, ...callbacks };
+  }
+  // ─── Debug ─────────────────────────────────────────────
+  getDebugLines() {
+    const lines = [];
+    for (const collider of this.colliders.values()) {
+      const aabb = collider.getAABB();
+      const color = collider.isSensor() ? { r: 0, g: 1, b: 0 } : { r: 0, g: 0, b: 1 };
+      lines.push(...this.getAABBLines(aabb, color));
+    }
+    return lines;
+  }
+  getAABBLines(aabb, color) {
+    const { min, max } = aabb;
+    const lines = [];
+    lines.push({
+      start: { x: min.x, y: min.y, z: min.z },
+      end: { x: max.x, y: min.y, z: min.z },
+      color
+    });
+    lines.push({
+      start: { x: max.x, y: min.y, z: min.z },
+      end: { x: max.x, y: min.y, z: max.z },
+      color
+    });
+    lines.push({
+      start: { x: max.x, y: min.y, z: max.z },
+      end: { x: min.x, y: min.y, z: max.z },
+      color
+    });
+    lines.push({
+      start: { x: min.x, y: min.y, z: max.z },
+      end: { x: min.x, y: min.y, z: min.z },
+      color
+    });
+    lines.push({
+      start: { x: min.x, y: max.y, z: min.z },
+      end: { x: max.x, y: max.y, z: min.z },
+      color
+    });
+    lines.push({
+      start: { x: max.x, y: max.y, z: min.z },
+      end: { x: max.x, y: max.y, z: max.z },
+      color
+    });
+    lines.push({
+      start: { x: max.x, y: max.y, z: max.z },
+      end: { x: min.x, y: max.y, z: max.z },
+      color
+    });
+    lines.push({
+      start: { x: min.x, y: max.y, z: max.z },
+      end: { x: min.x, y: max.y, z: min.z },
+      color
+    });
+    lines.push({
+      start: { x: min.x, y: min.y, z: min.z },
+      end: { x: min.x, y: max.y, z: min.z },
+      color
+    });
+    lines.push({
+      start: { x: max.x, y: min.y, z: min.z },
+      end: { x: max.x, y: max.y, z: min.z },
+      color
+    });
+    lines.push({
+      start: { x: max.x, y: min.y, z: max.z },
+      end: { x: max.x, y: max.y, z: max.z },
+      color
+    });
+    lines.push({
+      start: { x: min.x, y: min.y, z: max.z },
+      end: { x: min.x, y: max.y, z: max.z },
+      color
+    });
+    return lines;
+  }
+  // ─── Cleanup ───────────────────────────────────────────
+  dispose() {
+    this.bodies.clear();
+    this.colliders.clear();
+    this.joints.clear();
+    this.controllers.clear();
+    this.eventQueue = [];
+  }
 }
-// ============================================================
-// Factory Functions
-// ============================================================
 function createPhysicsWorld(config) {
-    return new PhysicsWorld(config);
+  return new PhysicsWorld(config);
 }
-
-export { PhysicsWorld, createPhysicsWorld };
+export {
+  PhysicsWorld,
+  createPhysicsWorld
+};