@perplexdotgg/bounce 1.3.1 → 1.5.0

package/build/bounce.js

@@ -1,6 +1,6 @@
-import { createClass, ChildType, NumberType, LazyReferenceListType, BooleanType, LazyReferenceType, ReferenceListType, ReferenceType } from "monomorph";
+import { props, createClass, ChildType, NumberType, LazyReferenceListType, BooleanType, LazyReferenceType, ReferenceListType, ReferenceType } from "monomorph";
 const mat3Keys = ["e0", "e1", "e2", "e3", "e4", "e5", "e6", "e7", "e8"];
-const mat3Props = {
+const mat3Props = props({
   e0: 0,
   e1: 0,
   e2: 0,
@@ -10,8 +10,8 @@ const mat3Props = {
   e6: 0,
   e7: 0,
   e8: 0
-};
-class Mat3 extends createClass(mat3Props) {
+});
+class Mat3 extends createClass()(mat3Props) {
   adjointMatrix(a3) {
     let a00 = a3.e0, a01 = a3.e1, a02 = a3.e2;
     let a10 = a3.e3, a11 = a3.e4, a12 = a3.e5;
@@ -420,12 +420,12 @@ function squaredDistance(a3, b3) {
   let z = b3.z - a3.z;
   return x2 * x2 + y4 * y4 + z * z;
 }
-const vec3Props = {
+const vec3Props = props({
   x: 0,
   y: 0,
   z: 0
-};
-class Vec3 extends createClass(vec3Props) {
+});
+class Vec3 extends createClass()(vec3Props) {
   constructor(data, index, pool) {
     if (Array.isArray(data)) {
       data = {
@@ -923,24 +923,24 @@ const rb = /* @__PURE__ */ Vec3.create();
 const temp = /* @__PURE__ */ Vec3.create();
 const rotatedVector = /* @__PURE__ */ Vec3.create();
 const rotationMatrix$3 = /* @__PURE__ */ Mat3.create();
-const lineProps = {
+const lineProps = props({
   a: Vec3,
   b: Vec3
-};
-class Line extends createClass(lineProps) {
+});
+class Line extends createClass()(lineProps) {
   setFromPointAndDirection(point2, direction2, length) {
     this.a.copy(point2);
     this.b.addScaledToVector(point2, direction2, length);
   }
 }
 const quatKeys = ["x", "y", "z", "w"];
-const quatProps = {
+const quatProps = props({
   x: 0,
   y: 0,
   z: 0,
   w: 1
-};
-class Quat extends createClass(quatProps) {
+});
+class Quat extends createClass()(quatProps) {
   constructor(data, index, pool) {
     if (Array.isArray(data)) {
       if (data.length && data.length < 4) {
@@ -1160,7 +1160,7 @@ const rotationMatrix$2 = /* @__PURE__ */ Mat3.create();
 const scaling = /* @__PURE__ */ Vec3.create();
 const conjugatedRotation = /* @__PURE__ */ Quat.create();
 const rotatedTranslation = /* @__PURE__ */ Vec3.create();
-const mat4Props = {
+const mat4Props = props({
   e0: 0,
   e1: 0,
   e2: 0,
@@ -1177,8 +1177,8 @@ const mat4Props = {
   e13: 0,
   e14: 0,
   e15: 0
-};
-class Mat4 extends createClass(mat4Props) {
+});
+class Mat4 extends createClass()(mat4Props) {
   multiply3x3(out, a3) {
     const x2 = a3.x;
     const y4 = a3.y;
@@ -1730,11 +1730,11 @@ class Mat4 extends createClass(mat4Props) {
 }
 const rotation$3 = /* @__PURE__ */ Quat.create();
 const cross_bn_cn = /* @__PURE__ */ Vec3.create();
-const planeProps = {
+const planeProps = props({
   normal: Vec3,
   constant: 0
-};
-class Plane extends createClass(planeProps) {
+});
+class Plane extends createClass()(planeProps) {
   toObject() {
     return {
       normal: this.normal.toObject(),
@@ -1802,11 +1802,11 @@ class Plane extends createClass(planeProps) {
     return fraction;
   }
 }
-const segmentProps = {
+const segmentProps = props({
   pointA: Vec3,
   pointB: Vec3
-};
-class Segment extends createClass(segmentProps) {
+});
+class Segment extends createClass()(segmentProps) {
   computeCenter(out) {
     out.addVectors(this.pointA, this.pointB);
     out.scaleVector(out, 0.5);
@@ -1826,12 +1826,12 @@ const newMax = /* @__PURE__ */ Vec3.create();
 const col = /* @__PURE__ */ Vec3.create();
 const a$2 = /* @__PURE__ */ Vec3.create();
 const b$1 = /* @__PURE__ */ Vec3.create();
-const aabbProps = {
+const aabbProps = props({
   min: Vec3,
   max: Vec3,
   centroid: ChildType(Vec3, void 0, true)
-};
-class Aabb extends createClass(aabbProps) {
+});
+class Aabb extends createClass()(aabbProps) {
   computeSupport(out, direction2) {
     out.x = direction2.x < 0 ? this.min.x : this.max.x;
     out.y = direction2.y < 0 ? this.min.y : this.max.y;
@@ -1959,6 +1959,7 @@ class Aabb extends createClass(aabbProps) {
     this.min.minVectors(boxA.min, boxB.min);
     this.max.maxVectors(boxA.max, boxB.max);
     this.computeCentroid(this.centroid);
+    return this;
   }
   expand(value) {
     this.min.x -= value;
@@ -2104,7 +2105,7 @@ const aabbCenter = /* @__PURE__ */ Vec3.create();
 const aabbHalfExtents = /* @__PURE__ */ Vec3.create();
 const segmentCenter = /* @__PURE__ */ Vec3.create();
 const segmentHalfExtents = /* @__PURE__ */ Vec3.create();
-const triangleProps$1 = {
+const triangleProps$1 = props({
   computedBounds: ChildType(Aabb, void 0, true),
   normal: ChildType(Vec3, void 0, true),
   a: Vec3,
@@ -2115,10 +2116,10 @@ const triangleProps$1 = {
   // aabb: { struct: Aabb, readOnly: true },
   // activeEdges: { struct: Uint32, optional: true },
   // translation: { struct: Vec3, optional: true },
-};
+});
 const ab$5 = /* @__PURE__ */ Vec3.create();
 const ac$3 = /* @__PURE__ */ Vec3.create();
-let Triangle$1 = class Triangle extends createClass(triangleProps$1) {
+let Triangle$1 = class Triangle extends createClass()(triangleProps$1) {
   // type: ShapeType.triangle = ShapeType.triangle;
   computeNormal(out) {
     ab$5.subtractVectors(this.b, this.a);
@@ -2191,13 +2192,13 @@ let Triangle$1 = class Triangle extends createClass(triangleProps$1) {
     out.transform(centerOfMassTransform2);
   }
 };
-const faceProps = {
+const faceProps = props({
   numVertices: 0,
   buffer: LazyReferenceListType(() => Vec3)
-};
+});
 const triangle$1 = /* @__PURE__ */ Triangle$1.create();
 const tempVertex = /* @__PURE__ */ Vec3.create();
-class Face extends createClass(faceProps) {
+class Face extends createClass()(faceProps) {
   clear() {
     this.numVertices = 0;
   }
@@ -2293,7 +2294,7 @@ var ConstraintType = /* @__PURE__ */ ((ConstraintType2) => {
   ConstraintType2[ConstraintType2["hingeConstraint"] = 3] = "hingeConstraint";
   return ConstraintType2;
 })(ConstraintType || {});
-const baseConstraintProps = {
+const baseConstraintProps = props({
   // unless we use require here, this file will be imported after it is needed
   bodyA: LazyReferenceType((() => Body)),
   bodyB: LazyReferenceType((() => Body)),
@@ -2303,10 +2304,10 @@ const baseConstraintProps = {
     /* local */
   ),
   isEnabled: BooleanType(true)
-};
+});
 const localToWorldTransformA$1 = /* @__PURE__ */ Mat4.create();
 const point$1 = /* @__PURE__ */ Vec3.create();
-const contactManifoldProps = {
+const contactManifoldProps = props({
   // meta data
   bodyA: LazyReferenceType((() => Body)),
   bodyB: LazyReferenceType((() => Body)),
@@ -2322,8 +2323,8 @@ const contactManifoldProps = {
   contactPointsA: ReferenceListType(Vec3),
   contactPointsB: ReferenceListType(Vec3),
   lambdas: ReferenceListType(Vec3)
-};
-class ContactManifold extends createClass(contactManifoldProps) {
+});
+class ContactManifold extends createClass()(contactManifoldProps) {
   get maxContacts() {
     return this.contactPointsA.maxLength;
   }
@@ -2443,14 +2444,14 @@ class ContactManifoldPool {
     return manifold;
   }
 }
-const contactPairProps = {
+const contactPairProps = props({
   bodyA: LazyReferenceType((() => Body)),
   bodyB: LazyReferenceType((() => Body)),
   firstContactManifold: ReferenceType(ContactManifold),
   translationAB: Vec3,
   rotationAB: Quat
-};
-class ContactPair extends createClass(contactPairProps) {
+});
+class ContactPair extends createClass()(contactPairProps) {
   get key() {
     return createContactPairKey(this.bodyA, this.bodyB);
   }
@@ -2467,7 +2468,7 @@ const angularVelocityA = /* @__PURE__ */ Vec3.create();
 const angularVelocityB = /* @__PURE__ */ Vec3.create();
 const inverseInertiaA$2 = /* @__PURE__ */ Mat3.create();
 const inverseInertiaB$2 = /* @__PURE__ */ Mat3.create();
-const directionalConstraintProps = {
+const directionalConstraintProps = props({
   mR1PlusUxAxis: Vec3,
   mR2xAxis: Vec3,
   mInvI1_R1PlusUxAxis: Vec3,
@@ -2476,10 +2477,8 @@ const directionalConstraintProps = {
   bias: 0,
   softness: 0,
   totalLambda: 0
-};
-class DirectionalConstraint extends createClass(
-  directionalConstraintProps
-) {
+});
+class DirectionalConstraint extends createClass()(directionalConstraintProps) {
   isSpringActive() {
     return this.softness !== 0;
   }
@@ -2609,16 +2608,14 @@ class DirectionalConstraint extends createClass(
     }
   }
 }
-const contactConstraintProps = {
+const contactConstraintProps = props({
   normalConstraint: DirectionalConstraint,
   tangentConstraint: DirectionalConstraint,
   bitangentConstraint: DirectionalConstraint,
   localPositionA: Vec3,
   localPositionB: Vec3
-};
-class ContactConstraint extends createClass(
-  contactConstraintProps
-) {
+});
+class ContactConstraint extends createClass()(contactConstraintProps) {
   getLambda(out, index) {
     out.x = this.normalConstraint.totalLambda;
     out.y = this.tangentConstraint.totalLambda;
@@ -2640,7 +2637,7 @@ class ContactConstraint extends createClass(
     this.normalConstraint.warmStart(bodyA, bodyB, inverseMassA, inverseMassB, normal4);
   }
 }
-const manifoldConstraintProps = {
+const manifoldConstraintProps = props({
   bodyA: LazyReferenceType((() => Body)),
   bodyB: LazyReferenceType((() => Body)),
   subShapeIdA: 0,
@@ -2654,10 +2651,8 @@ const manifoldConstraintProps = {
   inverseMassB: 0,
   contactConstraints: ReferenceListType(ContactConstraint),
   numContacts: 0
-};
-class ManifoldConstraint extends createClass(
-  manifoldConstraintProps
-) {
+});
+class ManifoldConstraint extends createClass()(manifoldConstraintProps) {
   updateTangentDirections() {
     this.worldSpaceTangent.computeNormalizedPerpendicular(this.worldSpaceNormal);
     this.worldSpaceBitangent.crossVectors(this.worldSpaceNormal, this.worldSpaceTangent);
@@ -2757,14 +2752,14 @@ function computeClosestPowersOfTwo(n2) {
   const next = 1 << Math.ceil(Math.log2(n2));
   return { previous, next };
 }
-const isometryProps = {
+const isometryProps = props({
   matrix: Mat4
-};
+});
 const tempTranslation = /* @__PURE__ */ Vec3.create();
 const tempRotation = /* @__PURE__ */ Quat.create();
 const rotation$2 = /* @__PURE__ */ Mat3.create();
 const inverseMatrix = /* @__PURE__ */ Mat4.create();
-class Isometry extends createClass(isometryProps) {
+class Isometry extends createClass()(isometryProps) {
   fromRotationAndTranslation(rotation2, translation) {
     if (rotation2) {
       tempRotation.copy(rotation2);
@@ -3312,11 +3307,11 @@ class TransformedConvexObject {
     out.transformFromMat4(this.transform.matrix);
   }
 }
-const transformedConvexShapeProps = {
+const transformedConvexShapeProps = props({
   transform: Isometry
-};
+});
 const direction = /* @__PURE__ */ Vec3.create();
-class TransformedConvexShape extends createClass(
+class TransformedConvexShape extends createClass()(
   transformedConvexShapeProps
 ) {
   constructor() {
@@ -3330,12 +3325,10 @@ class TransformedConvexShape extends createClass(
     out.transformByMat4(this.transform.matrix);
   }
 }
-const convexRadiusObjectProps = {
+const convexRadiusObjectProps = props({
   radius: 0
-};
-class ConvexRadiusObject extends createClass(
-  convexRadiusObjectProps
-) {
+});
+class ConvexRadiusObject extends createClass()(convexRadiusObjectProps) {
   constructor() {
     super();
     this.convexShape = null;
@@ -3382,10 +3375,10 @@ var ShapeType = /* @__PURE__ */ ((ShapeType2) => {
   ShapeType2[ShapeType2["triangleMesh"] = 7] = "triangleMesh";
   return ShapeType2;
 })(ShapeType || {});
-const sphereNoConvexProps = {
+const sphereNoConvexProps = props({
   radius: 0
-};
-class SphereNoConvex extends createClass(sphereNoConvexProps) {
+});
+class SphereNoConvex extends createClass()(sphereNoConvexProps) {
   getConvexRadius() {
     return this.radius;
   }
@@ -3393,10 +3386,10 @@ class SphereNoConvex extends createClass(sphereNoConvexProps) {
     out.zero();
   }
 }
-const sphereWithConvexProps = {
+const sphereWithConvexProps = props({
   radius: 0
-};
-class SphereWithConvex extends createClass(sphereWithConvexProps) {
+});
+class SphereWithConvex extends createClass()(sphereWithConvexProps) {
   getConvexRadius() {
     return 0;
   }
@@ -3409,7 +3402,7 @@ class SphereWithConvex extends createClass(sphereWithConvexProps) {
     }
   }
 }
-const sphereProps = {
+const sphereProps = props({
   computedCenterOfMass: ChildType(Vec3, void 0, true),
   computedVolume: NumberType(0, true),
   computedAabb: ChildType(Aabb, void 0, true),
@@ -3417,11 +3410,11 @@ const sphereProps = {
   copyForDiff: LazyReferenceType((() => Sphere)),
   sphereNoConvex: ChildType(SphereNoConvex, void 0, true),
   sphereWithConvex: ChildType(SphereWithConvex, void 0, true)
-};
+});
 const afterConstructorCode$a = `
   this.world = null;
 `;
-class Sphere extends createClass(sphereProps, { afterConstructorCode: afterConstructorCode$a }) {
+class Sphere extends createClass({ afterConstructorCode: afterConstructorCode$a })(sphereProps) {
   constructor() {
     super(...arguments);
     this.type = ShapeType.sphere;
@@ -3517,12 +3510,12 @@ const isometry$8 = /* @__PURE__ */ Isometry.create();
 const absLocalSurfacePosition = /* @__PURE__ */ Vec3.create();
 const tempVector$4 = /* @__PURE__ */ Vec3.create();
 const defaultConvexRadius = 0.05;
-const boxSupportProps = {
+const boxSupportProps = props({
   convexRadius: 0,
   // TODO: cannot used undefined default for this, possibly due to it being used as a deeply nested prop
   computedAabb: ChildType(Aabb, {}, true)
-};
-class BoxSupport extends createClass(boxSupportProps) {
+});
+class BoxSupport extends createClass()(boxSupportProps) {
   computeSupport(out, direction2) {
     this.computedAabb.computeSupport(out, direction2);
   }
@@ -3530,7 +3523,7 @@ class BoxSupport extends createClass(boxSupportProps) {
     return this.convexRadius;
   }
 }
-const boxProps = {
+const boxProps = props({
   computedCenterOfMass: ChildType(Vec3, void 0, true),
   computedVolume: NumberType(0, true),
   computedAabb: ChildType(Aabb, void 0, true),
@@ -3540,11 +3533,11 @@ const boxProps = {
   depth: 0,
   boxSupport: ChildType(BoxSupport, void 0, true),
   copyForDiff: LazyReferenceType((() => Box))
-};
+});
 const afterConstructorCode$9 = `
   this.world = null;
 `;
-class Box extends createClass(boxProps, { afterConstructorCode: afterConstructorCode$9 }) {
+class Box extends createClass({ afterConstructorCode: afterConstructorCode$9 })(boxProps) {
   constructor() {
     super(...arguments);
     this.type = ShapeType.box;
@@ -3661,23 +3654,23 @@ function updateShape$6(shape) {
   updateVolume$4(shape);
   updateLocalBounds$6(shape);
 }
-const bodyPairNodeProps = {
+const bodyPairNodeProps = props({
   bodyA: LazyReferenceType((() => Body)),
   bodyB: LazyReferenceType((() => Body)),
   edgeA: LazyReferenceType((() => BodyPairEdge)),
   edgeB: LazyReferenceType((() => BodyPairEdge))
-};
-class BodyPairNode extends createClass(bodyPairNodeProps) {
+});
+class BodyPairNode extends createClass()(bodyPairNodeProps) {
   containsStaticBody() {
     return this.bodyA.type === BodyType.static || this.bodyB.type === BodyType.static;
   }
 }
-const bodyPairEdgeProps = {
+const bodyPairEdgeProps = props({
   node: LazyReferenceType((() => BodyPairNode)),
   next: LazyReferenceType((() => BodyPairEdge)),
   prev: LazyReferenceType((() => BodyPairEdge))
-};
-class BodyPairEdge extends createClass(bodyPairEdgeProps) {
+});
+class BodyPairEdge extends createClass()(bodyPairEdgeProps) {
 }
 class BodyPairsModule {
   constructor(bodyPool, nodesPool, edgesPool) {
@@ -3916,12 +3909,12 @@ class BodyPairsModule {
     }
   }
 }
-const rayProps = {
+const rayProps = props({
   origin: Vec3,
   direction: Vec3,
   length: 0
-};
-class Ray extends createClass(rayProps) {
+});
+class Ray extends createClass()(rayProps) {
   intersectsAabb(aabb) {
     return aabb.intersectsRay(this);
   }
@@ -4027,7 +4020,6 @@ const CollisionFilter = /* @__PURE__ */ Object.freeze(/* @__PURE__ */ Object.def
   shouldPairCollide,
   toggleFlag
 }, Symbol.toStringTag, { value: "Module" }));
-const expandedObjectBounds = /* @__PURE__ */ Aabb.create();
 const leftAabb = /* @__PURE__ */ Aabb.create();
 const rightAabb = /* @__PURE__ */ Aabb.create();
 const centroidBounds$1 = /* @__PURE__ */ Aabb.create();
@@ -4036,15 +4028,15 @@ const ray$4 = /* @__PURE__ */ Ray.create();
 const halfExtents$2 = /* @__PURE__ */ Vec3.create();
 const nodeBounds$1 = /* @__PURE__ */ Aabb.create();
 const bodyBounds$1 = /* @__PURE__ */ Aabb.create();
-const bvhNodeProps$1 = {
+const bvhNodeProps$1 = props({
   parent: LazyReferenceType((() => BvhNode)),
   left: LazyReferenceType((() => BvhNode)),
   right: LazyReferenceType((() => BvhNode)),
   computedBounds: ChildType(Aabb, void 0, true),
   height: 0,
   objects: LazyReferenceListType((() => Body))
-};
-class BvhNode extends createClass(bvhNodeProps$1) {
+});
+class BvhNode extends createClass()(bvhNodeProps$1) {
   // objects: Body[] = [];
   isLeaf() {
     return this.left === null && this.right === null;
@@ -4086,7 +4078,7 @@ class BvhTree {
   }
   updateDirtyObjects() {
     for (const object of this.dirtyObjects) {
-      if (this.update(object, false)) ;
+      this.update(object, false);
     }
     this.dirtyObjects.clear();
   }
@@ -4175,7 +4167,7 @@ class BvhTree {
         node.computedBounds.min.fromArray([Infinity, Infinity, Infinity]);
         node.computedBounds.max.fromArray([-Infinity, -Infinity, -Infinity]);
         for (const object of node.objects) {
-          node.computedBounds.unionAabb(object.computedBounds);
+          node.computedBounds.unionAabb(object.computedExpandedBounds);
         }
         node.height = 0;
       } else {
@@ -4265,11 +4257,11 @@ class BvhTree {
   destroyBvhNode(node) {
     node.destroy();
   }
-  insert(object, shouldUpdateDirtyObjects = true) {
-    expandedObjectBounds.expandAabb(object.computedBounds, this.options.expansionMargin);
+  insert(object) {
+    object.computedExpandedBounds.expandAabb(object.computedBounds, this.options.expansionMargin);
     if (!this.root) {
       const root = this.createBvhNode();
-      root.computedBounds.copy(expandedObjectBounds);
+      root.computedBounds.copy(object.computedExpandedBounds);
       root.objects.push(object);
       root.height = 0;
       this.root = root;
@@ -4288,7 +4280,7 @@ class BvhTree {
     }
     if (best.objects.length < this.options.maxObjectsPerLeaf || best.height >= this.options.maxDepth) {
       best.objects.push(object);
-      best.computedBounds.unionAabb(expandedObjectBounds);
+      best.computedBounds.unionAabb(object.computedExpandedBounds);
       object.node = best;
       return this.refit(best);
     }
@@ -4297,15 +4289,15 @@ class BvhTree {
     best.objects.push(object);
     this.splitObjects(left, right, best);
     best.objects.length = 0;
-    left.computedBounds.copy(left.objects.getAtIndex(0).computedBounds);
+    left.computedBounds.copy(left.objects.getAtIndex(0).computedExpandedBounds);
     for (let i = 1; i < left.objects.length; i++) {
-      left.computedBounds.unionAabb(left.objects.getAtIndex(i).computedBounds);
+      left.computedBounds.unionAabb(left.objects.getAtIndex(i).computedExpandedBounds);
     }
     left.parent = best;
     left.height = 0;
-    right.computedBounds.copy(right.objects.getAtIndex(0).computedBounds);
+    right.computedBounds.copy(right.objects.getAtIndex(0).computedExpandedBounds);
     for (let i = 1; i < right.objects.length; i++) {
-      right.computedBounds.unionAabb(right.objects.getAtIndex(i).computedBounds);
+      right.computedBounds.unionAabb(right.objects.getAtIndex(i).computedExpandedBounds);
     }
     right.parent = best;
     right.height = 0;
@@ -4365,7 +4357,7 @@ class BvhTree {
     this.remove(object);
     return this.insert(object);
   }
-  intersectBody(onHit2, body2, shouldUpdateDirtyObjects = true) {
+  intersectBody(onHit2, bodyToIntersect, shouldUpdateDirtyObjects = true) {
     if (!this.root) {
       return;
     }
@@ -4380,7 +4372,7 @@ class BvhTree {
       if (!node) {
         continue;
       }
-      if (!node.computedBounds.intersectsAabb(body2.computedBounds)) {
+      if (!node.computedBounds.intersectsAabb(bodyToIntersect.computedBounds)) {
         continue;
       }
       if (!node.isLeaf()) {
@@ -4389,21 +4381,40 @@ class BvhTree {
         continue;
       }
       for (const otherBody of node.objects) {
-        if (body2 === otherBody) {
+        if (bodyToIntersect === otherBody || !shouldPairCollide(bodyToIntersect.belongsToGroups, bodyToIntersect.collidesWithGroups, otherBody.belongsToGroups, otherBody.collidesWithGroups) || !bodyToIntersect.computedBounds.intersectsAabb(otherBody.computedBounds)) {
           continue;
         }
-        if (shouldPairCollide(
-          body2.belongsToGroups,
-          body2.collidesWithGroups,
-          otherBody.belongsToGroups,
-          otherBody.collidesWithGroups
-        ) === false) {
-          continue;
+        if (onHit2(otherBody)) {
+          return;
         }
-        if (!body2.computedBounds.intersectsAabb(otherBody.computedBounds)) {
+      }
+    }
+  }
+  intersectAabb(onHit2, bounds, shouldUpdateDirtyObjects = true) {
+    if (!this.root) {
+      return;
+    }
+    if (shouldUpdateDirtyObjects) {
+      this.updateDirtyObjects();
+    }
+    const stack2 = this.intersectStack;
+    stack2.length = 0;
+    stack2.push(this.root);
+    while (stack2.length > 0) {
+      const node = stack2.pop();
+      if (!node.computedBounds.intersectsAabb(bounds)) {
+        continue;
+      }
+      if (!node.isLeaf()) {
+        stack2.push(node.left);
+        stack2.push(node.right);
+        continue;
+      }
+      for (const object of node.objects) {
+        if (!bounds.intersectsAabb(object.computedBounds)) {
           continue;
         }
-        if (onHit2(otherBody)) {
+        if (onHit2(object)) {
           return;
         }
       }
@@ -4445,10 +4456,7 @@ class BvhTree {
     stack2.push(this.root);
     while (stack2.length > 0) {
       const node = stack2.pop();
-      if (!node) {
-        continue;
-      }
-      if (node.computedBounds.intersectsAabb(bounds) === false) {
+      if (!node || !node.computedBounds.intersectsAabb(bounds)) {
         continue;
       }
       if (!node.isLeaf()) {
@@ -4457,10 +4465,7 @@ class BvhTree {
         continue;
       }
       for (const body2 of node.objects) {
-        if (shouldPairCollide(body2.belongsToGroups, body2.collidesWithGroups, belongsToGroups, collidesWithGroups) === false) {
-          continue;
-        }
-        if (!body2.computedBounds.intersectsAabb(bounds)) {
+        if (!shouldPairCollide(body2.belongsToGroups, body2.collidesWithGroups, belongsToGroups, collidesWithGroups) || !body2.computedBounds.intersectsAabb(bounds)) {
           continue;
         }
         bodyVisitor.visit(body2);
@@ -4486,7 +4491,7 @@ class BvhTree {
         continue;
       }
       nodeBounds$1.copy(node.computedBounds);
-      if (ray2.intersectsAabb(nodeBounds$1) === false) {
+      if (!ray2.intersectsAabb(nodeBounds$1)) {
         continue;
       }
       if (!node.isLeaf()) {
@@ -4495,11 +4500,11 @@ class BvhTree {
         continue;
       }
       for (const body2 of node.objects) {
-        if (shouldPairCollide(body2.belongsToGroups, body2.collidesWithGroups, belongsToGroups, collidesWithGroups) === false) {
+        if (!shouldPairCollide(body2.belongsToGroups, body2.collidesWithGroups, belongsToGroups, collidesWithGroups)) {
           continue;
         }
         bodyBounds$1.copy(body2.computedBounds);
-        if (ray2.intersectsAabb(bodyBounds$1) === false) {
+        if (!ray2.intersectsAabb(bodyBounds$1)) {
           continue;
         }
         bodyVisitor.visit(body2);
@@ -4530,7 +4535,7 @@ class BvhTree {
       }
       nodeBounds$1.copy(node.computedBounds);
       nodeBounds$1.expandByVector(halfExtents$2);
-      if (ray$4.intersectsAabb(nodeBounds$1) === false) {
+      if (!ray$4.intersectsAabb(nodeBounds$1)) {
         continue;
       }
       if (!node.isLeaf()) {
@@ -4539,12 +4544,12 @@ class BvhTree {
         continue;
       }
       for (const body2 of node.objects) {
-        if (shouldPairCollide(body2.belongsToGroups, body2.collidesWithGroups, belongsToGroups, collidesWithGroups) === false) {
+        if (!shouldPairCollide(body2.belongsToGroups, body2.collidesWithGroups, belongsToGroups, collidesWithGroups)) {
           continue;
         }
         bodyBounds$1.copy(body2.computedBounds);
         bodyBounds$1.expandByVector(halfExtents$2);
-        if (ray$4.intersectsAabb(bodyBounds$1) === false) {
+        if (!ray$4.intersectsAabb(bodyBounds$1)) {
           continue;
         }
         bodyVisitor.visit(body2);
@@ -4555,20 +4560,20 @@ class BvhTree {
     }
   }
 }
-const basicTransformProps = {
+const basicTransformProps = props({
   position: Vec3,
   rotation: Quat,
   scale: 1
-};
-class BasicTransform extends createClass(basicTransformProps) {
+});
+class BasicTransform extends createClass()(basicTransformProps) {
   equals(other, tolerance = 1e-6) {
     return this.position.equals(other.position, tolerance) && this.rotation.equals(other.rotation, tolerance) && Math.abs(this.scale - other.scale) < tolerance;
   }
 }
-const numberValueProps = {
+const numberValueProps = props({
   value: 0
-};
-class NumberValue extends createClass(numberValueProps) {
+});
+class NumberValue extends createClass()(numberValueProps) {
   toObject() {
     return {
       value: this.value
@@ -4630,12 +4635,12 @@ class ConvexHullWithConvex {
     throw new Error("Method not implemented.");
   }
 }
-const convexHullPointProps = {
+const convexHullPointProps = props({
   position: Vec3,
   numFaces: 0,
   faces: Vec3
-};
-class ConvexHullPoint extends createClass(convexHullPointProps) {
+});
+class ConvexHullPoint extends createClass()(convexHullPointProps) {
   toObject() {
     return {
       position: this.position.toObject(),
@@ -4644,11 +4649,11 @@ class ConvexHullPoint extends createClass(convexHullPointProps) {
     };
   }
 }
-const convexHullFaceProps = {
+const convexHullFaceProps = props({
   firstVertex: 0,
   numVertices: 0
-};
-class ConvexHullFace extends createClass(convexHullFaceProps) {
+});
+class ConvexHullFace extends createClass()(convexHullFaceProps) {
   toObject() {
     return {
       firstVertex: this.firstVertex,
@@ -4656,7 +4661,7 @@ class ConvexHullFace extends createClass(convexHullFaceProps) {
     };
   }
 }
-const convexHullProps = {
+const convexHullProps = props({
   computedCenterOfMass: ChildType(Vec3, void 0, true),
   computedVolume: NumberType(0, true),
   computedAabb: ChildType(Aabb, void 0, true),
@@ -4675,14 +4680,14 @@ const convexHullProps = {
   // { array: Float64Array(f), itemMaxCount: f / 3, itemSize: 3 } [Vec3], transformed points used by ConvexHullNoConvex
   translation: ChildType(Vec3, { x: 0, y: 0, z: 0 }),
   copyForDiff: LazyReferenceType((() => ConvexHull))
-};
+});
 const afterConstructorCode$8 = `
-this.world = null;
-this.shapeNoConvex = null;
-this.shapeWithConvex = null;
-this.type = ${ShapeType.convexHull};
+  this.world = null;
+  this.shapeNoConvex = null;
+  this.shapeWithConvex = null;
+  this.type = ${ShapeType.convexHull};
 `;
-class ConvexHull extends createClass(convexHullProps, { afterConstructorCode: afterConstructorCode$8 }) {
+class ConvexHull extends createClass({ afterConstructorCode: afterConstructorCode$8 })(convexHullProps) {
   computeSupportShape(inMode, inScale) {
     if (this.convexRadius === 0) {
       this.shapeWithConvex.shape = this;
@@ -4867,14 +4872,12 @@ const vertex = /* @__PURE__ */ Vec3.create();
 const multiplier = /* @__PURE__ */ Vec3.create();
 const transform$1 = /* @__PURE__ */ Mat4.create();
 const isometry$6 = /* @__PURE__ */ Isometry.create();
-const cylinderSupportShapeProps = {
+const cylinderSupportShapeProps = props({
   halfHeight: 0,
   radius: 0,
   convexRadius: 0
-};
-class CylinderSupportShape extends createClass(
-  cylinderSupportShapeProps
-) {
+});
+class CylinderSupportShape extends createClass()(cylinderSupportShapeProps) {
   getConvexRadius() {
     return this.convexRadius;
   }
@@ -4897,7 +4900,7 @@ class CylinderSupportShape extends createClass(
     throw new Error("Method not implemented.");
   }
 }
-const cylinderProps = {
+const cylinderProps = props({
   computedCenterOfMass: ChildType(Vec3, void 0, true),
   computedVolume: NumberType(0, true),
   computedAabb: ChildType(Aabb, void 0, true),
@@ -4907,11 +4910,11 @@ const cylinderProps = {
   translation: ChildType(Vec3, void 0, true),
   supportShape: ChildType(CylinderSupportShape, void 0, true),
   copyForDiff: LazyReferenceType((() => Cylinder))
-};
+});
 const afterConstructorCode$7 = `
   this.world = null;
 `;
-class Cylinder extends createClass(cylinderProps, { afterConstructorCode: afterConstructorCode$7 }) {
+class Cylinder extends createClass({ afterConstructorCode: afterConstructorCode$7 })(cylinderProps) {
   constructor() {
     super(...arguments);
     this.type = ShapeType.cylinder;
@@ -5067,11 +5070,11 @@ const support = /* @__PURE__ */ Vec3.create();
 const supportTop = /* @__PURE__ */ Vec3.create();
 const negatedScaledHalfHeightOfCylinder = /* @__PURE__ */ Vec3.create();
 const supportBottom = /* @__PURE__ */ Vec3.create();
-const capsuleNoConvexProps = {
+const capsuleNoConvexProps = props({
   halfHeightOfCylinder: Vec3,
   convexRadius: 0
-};
-class CapsuleNoConvex extends createClass(capsuleNoConvexProps) {
+});
+class CapsuleNoConvex extends createClass()(capsuleNoConvexProps) {
   computeSupport(out, direction2) {
     if (direction2.y > 0) {
       out.copy(this.halfHeightOfCylinder);
@@ -5086,13 +5089,11 @@ class CapsuleNoConvex extends createClass(capsuleNoConvexProps) {
     throw new Error("Method not implemented.");
   }
 }
-const capsuleWithConvexProps = {
+const capsuleWithConvexProps = props({
   halfHeightOfCylinder: Vec3,
   radius: 0
-};
-class CapsuleWithConvex extends createClass(
-  capsuleWithConvexProps
-) {
+});
+class CapsuleWithConvex extends createClass()(capsuleWithConvexProps) {
   computeSupport(out, direction2) {
     const len = direction2.length();
     if (len > 0) {
@@ -5113,7 +5114,7 @@ class CapsuleWithConvex extends createClass(
     throw new Error("Method not implemented.");
   }
 }
-const capsuleProps = {
+const capsuleProps = props({
   computedCenterOfMass: ChildType(Vec3, void 0, true),
   computedVolume: NumberType(0, true),
   computedAabb: ChildType(Aabb, void 0, true),
@@ -5122,11 +5123,11 @@ const capsuleProps = {
   copyForDiff: LazyReferenceType((() => Capsule)),
   capsuleNoConvex: ChildType(CapsuleNoConvex, void 0, true),
   capsuleWithConvex: ChildType(CapsuleWithConvex, void 0, true)
-};
+});
 const afterConstructorCode$6 = `
   this.world = null;
 `;
-class Capsule extends createClass(capsuleProps, { afterConstructorCode: afterConstructorCode$6 }) {
+class Capsule extends createClass({ afterConstructorCode: afterConstructorCode$6 })(capsuleProps) {
   constructor() {
     super(...arguments);
     this.type = ShapeType.capsule;
@@ -5271,7 +5272,7 @@ function updateShape$3(shape) {
   updateVolume$2(shape);
   updateLocalBounds$3(shape);
 }
-const transformedShapeProps = {
+const transformedShapeProps = props({
   shapeType: NumberType(ShapeType.box),
   // we need to do "as 'shape' ..." otherwise they are just 'string' and not the actual specific keys
   ["shape" + ShapeType.box]: ReferenceType(Box, void 0, true),
@@ -5283,14 +5284,11 @@ const transformedShapeProps = {
   ["shape" + ShapeType.sphere]: ReferenceType(Sphere, void 0, true),
   // triangleMesh not supported
   transform: BasicTransform
-};
+});
 const afterConstructorCode$5 = `
   this.world = null;
 `;
-class TransformedShape extends createClass(
-  transformedShapeProps,
-  { afterConstructorCode: afterConstructorCode$5 }
-) {
+class TransformedShape extends createClass({ afterConstructorCode: afterConstructorCode$5 })(transformedShapeProps) {
   get shape() {
     return this["shape" + this.shapeType];
   }
@@ -5312,18 +5310,18 @@ const transformedCenterOfMass = /* @__PURE__ */ Vec3.create();
 const transformSubshapeToCompound = /* @__PURE__ */ Isometry.create();
 const subShapeDirection = /* @__PURE__ */ Vec3.create();
 const subShapeToWorld = /* @__PURE__ */ Isometry.create();
-const compoundShapeProps = {
+const compoundShapeProps = props({
   computedCenterOfMass: ChildType(Vec3, {}, true),
   computedVolume: NumberType(0, true),
   computedAabb: ChildType(Aabb, {}, true),
   copyForDiff: LazyReferenceType((() => CompoundShape)),
   shapes: ReferenceListType(TransformedShape)
-};
+});
 const afterConstructorCode$4 = `
   this.world = null;
 `;
 const tempTransform = /* @__PURE__ */ BasicTransform.create();
-class CompoundShape extends createClass(compoundShapeProps, { afterConstructorCode: afterConstructorCode$4 }) {
+class CompoundShape extends createClass({ afterConstructorCode: afterConstructorCode$4 })(compoundShapeProps) {
   constructor() {
     super(...arguments);
     this.type = ShapeType.compoundShape;
@@ -5527,7 +5525,7 @@ const d = /* @__PURE__ */ Vec3.create();
 const scale$1 = /* @__PURE__ */ Vec3.create();
 const blockAabb = /* @__PURE__ */ Aabb.create();
 const normal$1 = /* @__PURE__ */ Vec3.create();
-const heightMapProps = {
+const heightMapProps = props({
   computedCenterOfMass: ChildType(Vec3, void 0, true),
   computedVolume: NumberType(0, true),
   computedAabb: ChildType(Aabb, {}, true),
@@ -5540,18 +5538,18 @@ const heightMapProps = {
   // maxHeights: PoolReferenceType(Vec1),
   // levels: PoolReferenceType(Vec1),
   // activeEdges: PoolReferenceType(Vec1),
-};
+});
 const afterConstructorCode$3 = `
-this.world = null;
-this.heights = [];
-this.minHeights = [];
-this.maxHeights = [];
-this.levels = [];
-this.activeEdges = [];
-this.stack = [];
-this.children = [0, 0, 0, 0];
+  this.world = null;
+  this.heights = [];
+  this.minHeights = [];
+  this.maxHeights = [];
+  this.levels = [];
+  this.activeEdges = [];
+  this.stack = [];
+  this.children = [0, 0, 0, 0];
 `;
-class HeightMap extends createClass(heightMapProps, { afterConstructorCode: afterConstructorCode$3 }) {
+class HeightMap extends createClass({ afterConstructorCode: afterConstructorCode$3 })(heightMapProps) {
   constructor() {
     super(...arguments);
     this.type = ShapeType.heightMap;
@@ -5678,8 +5676,8 @@ class HeightMap extends createClass(heightMapProps, { afterConstructorCode: afte
     }
   }
   /**
-  * this function visits every block and triangle of the heightMap. take care when using it on high resolution heightMaps. it is intended to generate a debug visualization of the heightMap.
-  */
+   * this function visits every block and triangle of the heightMap. take care when using it on high resolution heightMaps. it is intended to generate a debug visualization of the heightMap.
+   */
   createTriangulatedVerticesAndNormalsArray() {
     const vertices = [];
     const normals = [];
@@ -5782,15 +5780,15 @@ function updateShape$1(shape) {
   updateVolume(shape);
   updateLocalBounds$1(shape);
 }
-const bvhNodeProps = {
+const bvhNodeProps = props({
   parent: LazyReferenceType((() => TriangleMeshBvhNode)),
   left: LazyReferenceType((() => TriangleMeshBvhNode)),
   right: LazyReferenceType((() => TriangleMeshBvhNode)),
   computedBounds: ChildType(Aabb, void 0, true),
   depth: NumberType(0, true),
   objects: LazyReferenceListType((() => Triangle$1))
-};
-class TriangleMeshBvhNode extends createClass(bvhNodeProps) {
+});
+class TriangleMeshBvhNode extends createClass()(bvhNodeProps) {
   /**
    * if bvh node is an internal node, this will be an empty list
    * if bvh node is a leaf node, this will contain refs to the objects in the leaf
@@ -5845,12 +5843,10 @@ function splitObjects(objects) {
   const rightObjects = objects.slice(mid);
   return [leftObjects, rightObjects];
 }
-const triangleMeshBvhTreeProps = {
+const triangleMeshBvhTreeProps = props({
   nodes: ReferenceListType(TriangleMeshBvhNode)
-};
-class TriangleMeshBvhTree extends createClass(
-  triangleMeshBvhTreeProps
-) {
+});
+class TriangleMeshBvhTree extends createClass()(triangleMeshBvhTreeProps) {
   constructor() {
     super(...arguments);
     this.intersectStack = [];
@@ -6045,7 +6041,7 @@ const halfExtents$1 = /* @__PURE__ */ Vec3.create();
 const nodeBounds = /* @__PURE__ */ Aabb.create();
 const bodyBounds = /* @__PURE__ */ Aabb.create();
 const isometry$2 = /* @__PURE__ */ Isometry.create();
-const triangleMeshProps = {
+const triangleMeshProps = props({
   computedCenterOfMass: ChildType(Vec3, void 0, true),
   computedVolume: NumberType(0, true),
   computedAabb: ChildType(Aabb, void 0, true),
@@ -6056,11 +6052,11 @@ const triangleMeshProps = {
   triangles: ReferenceListType(Triangle$1),
   copyForDiff: LazyReferenceType((() => TriangleMesh)),
   bvh: LazyReferenceType((() => TriangleMeshBvhTree))
-};
+});
 const afterConstructorCode$2 = `
   this.world = null;
 `;
-class TriangleMesh extends createClass(triangleMeshProps, { afterConstructorCode: afterConstructorCode$2 }) {
+class TriangleMesh extends createClass({ afterConstructorCode: afterConstructorCode$2 })(triangleMeshProps) {
   constructor() {
     super(...arguments);
     this.type = ShapeType.triangleMesh;
@@ -6148,7 +6144,7 @@ function updateShape(shape) {
   updateCopyForDiff(shape);
   updateLocalBounds(shape);
 }
-const constraintOptionsProps = {
+const constraintOptionsProps = props({
   /**
    * Value used to scale the amount of position error to correct per solve iteration. Expected to be in the interval [0, 1]
    */
@@ -6161,12 +6157,10 @@ const constraintOptionsProps = {
    * Value used to scale the strength of the constraint. recommend to tune in the interval of [0, 1], with 0 being no correction, 1 being full correction
    */
   strength: 1
-};
-class ConstraintOptions extends createClass(
-  constraintOptionsProps
-) {
+});
+class ConstraintOptions extends createClass()(constraintOptionsProps) {
 }
-const pointConstraintComponentProps = {
+const pointConstraintComponentProps = props({
   bodyA: LazyReferenceType((() => Body)),
   bodyB: LazyReferenceType((() => Body)),
   options: ChildType(ConstraintOptions, {
@@ -6180,8 +6174,8 @@ const pointConstraintComponentProps = {
   effectiveInverseInertiaA: ChildType(Mat3, void 0, true),
   effectiveInverseInertiaB: ChildType(Mat3, void 0, true),
   totalLambda: ChildType(Vec3, void 0, true)
-};
-class PointConstraintComponent extends createClass(pointConstraintComponentProps) {
+});
+class PointConstraintComponent extends createClass()(pointConstraintComponentProps) {
   deactivate() {
     this.effectiveMass.zero();
     this.totalLambda.zero();
@@ -6290,15 +6284,15 @@ const lambda$2 = /* @__PURE__ */ Vec3.create();
 const transformWorldToLocalA$2 = /* @__PURE__ */ Isometry.create();
 const transformWorldToLocalB$2 = /* @__PURE__ */ Isometry.create();
 const transformLocalToWorld$3 = /* @__PURE__ */ Mat4.create();
-const pointConstraintProps = {
+const pointConstraintProps = props({
   ...baseConstraintProps,
   positionA: Vec3,
   positionB: Vec3,
   localPositionA: ChildType(Vec3, void 0, true),
   localPositionB: ChildType(Vec3, void 0, true),
   translationComponent: PointConstraintComponent
-};
-class PointConstraint extends createClass(pointConstraintProps) {
+});
+class PointConstraint extends createClass()(pointConstraintProps) {
   constructor() {
     super(...arguments);
     this.type = ConstraintType.pointConstraint;
@@ -6367,7 +6361,7 @@ PointConstraint.create = function() {
   constraint.world.sleepModule.wakeBodyUp(constraint.bodyB);
   return constraint;
 };
-const rotationEulerComponentProps = {
+const rotationEulerComponentProps = props({
   bodyA: LazyReferenceType((() => Body)),
   bodyB: LazyReferenceType((() => Body)),
   options: ChildType(ConstraintOptions, {
@@ -6379,10 +6373,8 @@ const rotationEulerComponentProps = {
   mInvI2: ChildType(Mat3, void 0, true),
   effectiveMassRotationComponent: ChildType(Mat3, void 0, true),
   totalLambdaRotationComponent: ChildType(Vec3, void 0, true)
-};
-class RotationEulerComponent extends createClass(
-  rotationEulerComponentProps
-) {
+});
+class RotationEulerComponent extends createClass()(rotationEulerComponentProps) {
   deactivate() {
     this.effectiveMassRotationComponent.zero();
     this.totalLambdaRotationComponent.zero();
@@ -6474,7 +6466,7 @@ const anchor = /* @__PURE__ */ Vec3.create();
 const transformWorldToLocalA$1 = /* @__PURE__ */ Mat4.create();
 const transformWorldToLocalB$1 = /* @__PURE__ */ Mat4.create();
 const inverseRotationB = /* @__PURE__ */ Quat.create();
-const fixedConstraintProps = {
+const fixedConstraintProps = props({
   ...baseConstraintProps,
   positionA: ChildType(Vec3),
   positionB: ChildType(Vec3),
@@ -6493,8 +6485,8 @@ const fixedConstraintProps = {
   inverseInitialRotationAToB: ChildType(Quat, void 0, true),
   translationComponent: PointConstraintComponent,
   rotationComponent: RotationEulerComponent
-};
-class FixedConstraint extends createClass(fixedConstraintProps) {
+});
+class FixedConstraint extends createClass()(fixedConstraintProps) {
   constructor() {
     super(...arguments);
     this.type = ConstraintType.fixedConstraint;
@@ -6627,7 +6619,7 @@ var SpringMode = /* @__PURE__ */ ((SpringMode2) => {
   SpringMode2[SpringMode2["UseStiffness"] = 1] = "UseStiffness";
   return SpringMode2;
 })(SpringMode || {});
-const springProps = {
+const springProps = props({
   mode: NumberType(
     0
     /* UseFrequency */
@@ -6635,8 +6627,8 @@ const springProps = {
   damping: 0,
   frequency: 0,
   stiffness: 0
-};
-class Spring extends createClass(springProps) {
+});
+class Spring extends createClass()(springProps) {
   hasStiffness() {
     return this.frequency > 0;
   }
@@ -6644,11 +6636,11 @@ class Spring extends createClass(springProps) {
     return this.frequency >= 0 && this.damping >= 0 && this.stiffness >= 0;
   }
 }
-const springComponentProps = {
+const springComponentProps = props({
   bias: 0,
   softness: 0
-};
-class SpringComponent extends createClass(springComponentProps) {
+});
+class SpringComponent extends createClass()(springComponentProps) {
   getBias(lambda2) {
     return this.softness * lambda2 + this.bias;
   }
@@ -6690,7 +6682,7 @@ const inverseInertiaA$1 = /* @__PURE__ */ Mat3.create();
 const inverseInertiaB$1 = /* @__PURE__ */ Mat3.create();
 const linearImpulse = /* @__PURE__ */ Vec3.create();
 const angularImpulse = /* @__PURE__ */ Vec3.create();
-const axisComponentProps = {
+const axisComponentProps = props({
   bodyA: LazyReferenceType((() => Body)),
   bodyB: LazyReferenceType((() => Body)),
   options: ChildType(ConstraintOptions, {
@@ -6705,8 +6697,8 @@ const axisComponentProps = {
   effectiveMass: 0,
   totalLambda: 0,
   springComponent: SpringComponent
-};
-class AxisComponent extends createClass(axisComponentProps) {
+});
+class AxisComponent extends createClass()(axisComponentProps) {
   deactivate() {
     this.effectiveMass = 0;
     this.totalLambda = 0;
@@ -6861,7 +6853,7 @@ const localToWorldTransformB = /* @__PURE__ */ Mat4.create();
 const armA = /* @__PURE__ */ Vec3.create();
 const armB = /* @__PURE__ */ Vec3.create();
 const vectorAB$5 = /* @__PURE__ */ Vec3.create();
-const distanceConstraintProps = {
+const distanceConstraintProps = props({
   ...baseConstraintProps,
   positionA: ChildType(Vec3, { x: 0, y: 0, z: 0 }),
   positionB: ChildType(Vec3, { x: 0, y: 0, z: 0 }),
@@ -6876,8 +6868,8 @@ const distanceConstraintProps = {
   worldNormal: ChildType(Vec3, void 0, true),
   minLambda: NumberType(0, true),
   maxLambda: NumberType(0, true)
-};
-class DistanceConstraint extends createClass(distanceConstraintProps) {
+});
+class DistanceConstraint extends createClass()(distanceConstraintProps) {
   constructor() {
     super(...arguments);
     this.type = ConstraintType.distanceConstraint;
@@ -7024,7 +7016,7 @@ var MotorMode = /* @__PURE__ */ ((MotorMode2) => {
   MotorMode2[MotorMode2["Velocity"] = 2] = "Velocity";
   return MotorMode2;
 })(MotorMode || {});
-const motorProps = {
+const motorProps = props({
   spring: ChildType(Spring, { mode: SpringMode.UseFrequency, damping: 1, frequency: 2, stiffness: 2 }),
   minForce: NumberType(-Infinity),
   maxForce: NumberType(Infinity),
@@ -7034,8 +7026,8 @@ const motorProps = {
     0
     /* Off */
   )
-};
-class Motor extends createClass(motorProps) {
+});
+class Motor extends createClass()(motorProps) {
   isValid() {
     return this.spring.isValid() && this.minForce <= this.maxForce && this.minTorque <= this.maxTorque;
   }
@@ -7047,7 +7039,7 @@ const perpendicular$1 = /* @__PURE__ */ Vec3.create();
 const summedInverseInertia = /* @__PURE__ */ Mat3.create();
 const massBA = /* @__PURE__ */ Vec3.create();
 const massCA = /* @__PURE__ */ Vec3.create();
-const hingeComponentProps = {
+const hingeComponentProps = props({
   bodyA: LazyReferenceType((() => Body)),
   bodyB: LazyReferenceType((() => Body)),
   options: ChildType(ConstraintOptions, {
@@ -7068,7 +7060,7 @@ const hingeComponentProps = {
   inverseInertiaB: ChildType(Mat3, void 0, true),
   totalLambdaA: NumberType(0, true),
   totalLambdaB: NumberType(0, true)
-};
+});
 function getOrthogonalVector(out, a3) {
   if (Math.abs(a3.x) > Math.abs(a3.y)) {
     out.fromArray([a3.z, 0, -a3.x]);
@@ -7076,7 +7068,7 @@ function getOrthogonalVector(out, a3) {
     out.fromArray([0, a3.z, -a3.y]);
   }
 }
-class HingeComponent extends createClass(hingeComponentProps) {
+class HingeComponent extends createClass()(hingeComponentProps) {
   deactivate() {
     this.effectiveMass00 = 0;
     this.effectiveMass01 = 0;
@@ -7194,7 +7186,7 @@ class HingeComponent extends createClass(hingeComponentProps) {
 const spinBA = /* @__PURE__ */ Vec3.create();
 const deltaSpin$1 = /* @__PURE__ */ Vec3.create();
 const inverseEffectiveMass = /* @__PURE__ */ Vec3.create();
-const angleComponentProps = {
+const angleComponentProps = props({
   bodyA: LazyReferenceType((() => Body)),
   bodyB: LazyReferenceType((() => Body)),
   options: ChildType(ConstraintOptions, {
@@ -7207,8 +7199,8 @@ const angleComponentProps = {
   effectiveInverseInertiaA: ChildType(Vec3, void 0, true),
   effectiveInverseInertiaB: ChildType(Vec3, void 0, true),
   totalLambda: NumberType(0, true)
-};
-class AngleComponent extends createClass(angleComponentProps) {
+});
+class AngleComponent extends createClass()(angleComponentProps) {
   deactivate() {
     this.effectiveMass = 0;
     this.totalLambda = 0;
@@ -7361,7 +7353,7 @@ const rotateLocalToWorldB = /* @__PURE__ */ Mat3.create();
 const worldHingeA = /* @__PURE__ */ Vec3.create();
 const worldHingeB = /* @__PURE__ */ Vec3.create();
 const transformLocalToWorld = /* @__PURE__ */ Mat4.create();
-const hingeConstraintProps = {
+const hingeConstraintProps = props({
   ...baseConstraintProps,
   // init data
   pointA: ChildType(Vec3, { x: 0, y: 0, z: 0 }),
@@ -7393,8 +7385,8 @@ const hingeConstraintProps = {
   rotationConstraintPart: HingeComponent,
   rotationLimitsConstraintPart: AngleComponent,
   motorConstraintPart: AngleComponent
-};
-class HingeConstraint extends createClass(hingeConstraintProps) {
+});
+class HingeConstraint extends createClass()(hingeConstraintProps) {
   constructor() {
     super(...arguments);
     this.type = ConstraintType.hingeConstraint;
@@ -7697,7 +7689,7 @@ HingeConstraint.create = function() {
   constraint.world.sleepModule.wakeBodyUp(constraint.bodyB);
   return constraint;
 };
-const constraintPairNodeProps = {
+const constraintPairNodeProps = props({
   bodyA: LazyReferenceType((() => Body)),
   bodyB: LazyReferenceType((() => Body)),
   edgeA: LazyReferenceType((() => ConstraintPairEdge)),
@@ -7707,14 +7699,13 @@ const constraintPairNodeProps = {
   constraintFixed: LazyReferenceType((() => FixedConstraint)),
   constraintDistance: LazyReferenceType((() => DistanceConstraint)),
   constraintHinge: LazyReferenceType((() => HingeConstraint))
-};
+});
 const afterConstructorCode$1 = `
   this.world = null;
   this.constraints = [null, null, null, null];
 `;
-class ConstraintPairNode extends createClass(
-  constraintPairNodeProps,
-  { afterConstructorCode: afterConstructorCode$1 }
+class ConstraintPairNode extends createClass({ afterConstructorCode: afterConstructorCode$1 })(
+  constraintPairNodeProps
 ) {
   containsStaticBody() {
     return this.bodyA.type === BodyType.static || this.bodyB.type === BodyType.static;
@@ -7732,14 +7723,12 @@ class ConstraintPairNode extends createClass(
     this.constraintType = value.type;
   }
 }
-const constraintPairEdgeProps = {
+const constraintPairEdgeProps = props({
   node: LazyReferenceType((() => ConstraintPairNode)),
   next: LazyReferenceType((() => ConstraintPairEdge)),
   prev: LazyReferenceType((() => ConstraintPairEdge))
-};
-class ConstraintPairEdge extends createClass(
-  constraintPairEdgeProps
-) {
+});
+class ConstraintPairEdge extends createClass()(constraintPairEdgeProps) {
 }
 class ConstraintPairsModule {
   constructor(constraintPairNodePool, constraintPairEdgePool) {
@@ -7980,7 +7969,7 @@ var ColliderType = /* @__PURE__ */ ((ColliderType2) => {
   ColliderType2[ColliderType2["attractor"] = 3] = "attractor";
   return ColliderType2;
 })(ColliderType || {});
-const bodyProps = {
+const bodyProps = props({
   type: NumberType(
     0
     /* dynamic */
@@ -7991,6 +7980,7 @@ const bodyProps = {
   angularVelocity: Vec3,
   computedCenterOfMassPosition: ChildType(Vec3, void 0, true),
   computedBounds: ChildType(Aabb, void 0, true),
+  computedExpandedBounds: ChildType(Aabb, void 0, true),
   previousPosition: ChildType(Vec3, void 0, true),
   previousOrientation: ChildType(Quat, void 0, true),
   isSleeping: BooleanType(false, true),
@@ -8033,15 +8023,18 @@ const bodyProps = {
     (() => ConstraintPairEdge)
   ),
   visitGeneration: NumberType(0, true)
-};
+});
 const afterConstructorCode = `
   this.world = null;
 `;
-class Body extends createClass(bodyProps, { afterConstructorCode }) {
+class Body extends createClass({ afterConstructorCode })(bodyProps) {
   get shape() {
     return this["shape" + this.shapeType];
   }
   set shape(newShape) {
+    this.setShape(newShape);
+  }
+  setShape(newShape, updateBroadphase = true) {
     this["shape" + this.shapeType] = null;
     this["shape" + newShape.type] = newShape;
     this.shapeType = newShape.type;
@@ -8063,7 +8056,9 @@ class Body extends createClass(bodyProps, { afterConstructorCode }) {
       newShape.computedVolume = hull.computedVolume;
       newShape.inertia.copy(hull.inertia);
     }
-    updateBody(this);
+    if (updateBroadphase) {
+      updateBody(this);
+    }
   }
   // physics integration functions
   /**
@@ -8379,114 +8374,15 @@ function updateMassProperties(body2) {
   body2.shape.computeInverseInertiaTensor(body2.computedLocalInverseInertia, body2.mass);
   transformTensor(body2.computedWorldInverseInertia, body2.computedLocalInverseInertia, body2.orientation);
 }
-function updateBody(body2) {
+function updateBody(body2, updateBroadphase = true) {
   updateMassProperties(body2);
   updateCenterOfMassPosition(body2);
   updateWorldBounds(body2);
-}
-var CollisionStatus = /* @__PURE__ */ ((CollisionStatus2) => {
-  CollisionStatus2[CollisionStatus2["NotColliding"] = 0] = "NotColliding";
-  CollisionStatus2[CollisionStatus2["Colliding"] = 1] = "Colliding";
-  CollisionStatus2[CollisionStatus2["Indeterminate"] = 2] = "Indeterminate";
-  return CollisionStatus2;
-})(CollisionStatus || {});
-const collisionResultProps = {
-  status: NumberType(
-    2
-    /* Indeterminate */
-  ),
-  hasContact: BooleanType(false),
-  penetration: 0,
-  contactPointA: Vec3,
-  contactPointB: Vec3,
-  normalA: Vec3,
-  normalB: Vec3,
-  momentArmA: Vec3,
-  momentArmB: Vec3,
-  surfaceNormalA: Vec3,
-  surfaceNormalB: Vec3,
-  bodyA: LazyReferenceType((() => Body)),
-  bodyB: LazyReferenceType((() => Body)),
-  subShapeIdA: 0,
-  subShapeIdB: 0,
-  isBackFace: BooleanType(false),
-  faceA: Face,
-  faceB: Face
-};
-class CollisionResult extends createClass(collisionResultProps) {
-  /**
-   * swaps the A and B data
-   */
-  swap() {
-    this.contactPointA.swap(this.contactPointB);
-    this.normalA.swap(this.normalB);
-    this.momentArmA.swap(this.momentArmB);
-    this.surfaceNormalA.swap(this.surfaceNormalB);
-    const tempBody = this.bodyA;
-    this.bodyA = this.bodyB;
-    this.bodyB = tempBody;
-    const tempSubShapeId = this.subShapeIdA;
-    this.subShapeIdA = this.subShapeIdB;
-    this.subShapeIdB = tempSubShapeId;
-    const tempFace = this.faceA;
-    this.faceA = this.faceB;
-    this.faceB = tempFace;
+  if (updateBroadphase) {
+    body2.markBodyAsDirty();
   }
 }
-const _CollisionCollector = class _CollisionCollector {
-  constructor() {
-    this.earlyOutFraction = _CollisionCollector.initialEarlyOutFraction;
-    this.body2 = null;
-  }
-  getEarlyOutFraction() {
-    return _CollisionCollector.initialEarlyOutFraction;
-  }
-  getPositiveEarlyOutFraction() {
-    return Math.max(Number.MIN_VALUE, this.earlyOutFraction);
-  }
-  reset() {
-    this.earlyOutFraction = _CollisionCollector.initialEarlyOutFraction;
-    this.body2 = null;
-    return this;
-  }
-  addHit(result2) {
-  }
-  addMiss() {
-  }
-};
-_CollisionCollector.initialEarlyOutFraction = Infinity;
-_CollisionCollector.shouldEarlyOutFraction = -Infinity;
-let CollisionCollector = _CollisionCollector;
-var CollectFacesMode = /* @__PURE__ */ ((CollectFacesMode2) => {
-  CollectFacesMode2[CollectFacesMode2["CollectFaces"] = 0] = "CollectFaces";
-  CollectFacesMode2[CollectFacesMode2["NoFaces"] = 1] = "NoFaces";
-  return CollectFacesMode2;
-})(CollectFacesMode || {});
-var ActiveEdgeMode = /* @__PURE__ */ ((ActiveEdgeMode2) => {
-  ActiveEdgeMode2[ActiveEdgeMode2["CollideOnlyWithActive"] = 0] = "CollideOnlyWithActive";
-  ActiveEdgeMode2[ActiveEdgeMode2["CollideWithAll"] = 1] = "CollideWithAll";
-  return ActiveEdgeMode2;
-})(ActiveEdgeMode || {});
-var BackFaceMode = /* @__PURE__ */ ((BackFaceMode2) => {
-  BackFaceMode2[BackFaceMode2["IgnoreBackFaces"] = 0] = "IgnoreBackFaces";
-  BackFaceMode2[BackFaceMode2["CollideWithBackFaces"] = 1] = "CollideWithBackFaces";
-  return BackFaceMode2;
-})(BackFaceMode || {});
-function createDefaultCollisionSettings() {
-  return {
-    maxSeparation: 0,
-    collisionTolerance: 1e-4,
-    activeEdgeMode: 0,
-    collectFacesMode: 1,
-    penetrationTolerance: 1e-4,
-    activeEdgeMovementDirectionX: 0,
-    activeEdgeMovementDirectionY: 0,
-    activeEdgeMovementDirectionZ: 0,
-    backFaceMode: 0
-    /* IgnoreBackFaces */
-  };
-}
-const castResultProps = {
+const castResultProps = props({
   status: NumberType(
     2
     /* Indeterminate */
@@ -8510,8 +8406,8 @@ const castResultProps = {
   faceB: Face,
   fraction: 0,
   isBackFaceHit: BooleanType(false)
-};
-class CastResult extends createClass(castResultProps) {
+});
+class CastResult extends createClass()(castResultProps) {
   /**
    * swaps the A and B data
    */
@@ -8567,15 +8463,6 @@ var QueryPrecision = /* @__PURE__ */ ((QueryPrecision2) => {
   QueryPrecision2[QueryPrecision2["preciseWithContacts"] = 2] = "preciseWithContacts";
   return QueryPrecision2;
 })(QueryPrecision || {});
-function createDefaultCastSettings() {
-  return {
-    ...createDefaultCollisionSettings(),
-    backFaceModeConvex: BackFaceMode.IgnoreBackFaces,
-    backFaceModeTriangles: BackFaceMode.IgnoreBackFaces,
-    useShrunkenShapeAndConvexRadius: false,
-    returnDeepestPoint: false
-  };
-}
 const ab$4 = /* @__PURE__ */ Vec3.create();
 function computeBarycentricCoordinates2d(outBarycentric, a3, b3, squaredTolerance = 1e-10) {
   ab$4.subtractVectors(b3, a3);
@@ -8596,21 +8483,21 @@ function computeBarycentricCoordinates2d(outBarycentric, a3, b3, squaredToleranc
   }
   outBarycentric.isValid = true;
 }
-const closestPointResultProps = {
+const closestPointResultProps = props({
   point: Vec3,
   pointSet: 0
-};
-class ClosestPointResult extends createClass(
-  closestPointResultProps
-) {
+});
+class ClosestPointResult extends createClass()(closestPointResultProps) {
 }
-const barycentricCoordinatesResultProps = {
+const barycentricCoordinatesResultProps = props({
   u: 0,
   v: 0,
   w: 0,
   isValid: BooleanType(false)
-};
-class BarycentricCoordinatesResult extends createClass(barycentricCoordinatesResultProps) {
+});
+class BarycentricCoordinatesResult extends createClass()(
+  barycentricCoordinatesResultProps
+) {
 }
 const ab$3 = /* @__PURE__ */ Vec3.create();
 const ac$2 = /* @__PURE__ */ Vec3.create();
@@ -8821,13 +8708,13 @@ function computeClosestPointOnTriangle(outClosestPoint, inA, inB, inC, mustInclu
   tempVector$2.addVectors(tempVector$2, c);
   outClosestPoint.point.scaleVector(n$1, tempVector$2.dot(n$1) / (3 * normalLengthSquared));
 }
-const vec4Props = {
+const vec4Props = props({
   x: 0,
   y: 0,
   z: 0,
   w: 0
-};
-class Vec4 extends createClass(vec4Props) {
+});
+class Vec4 extends createClass()(vec4Props) {
 }
 const ab$1 = /* @__PURE__ */ Vec3.create();
 const ac = /* @__PURE__ */ Vec3.create();
@@ -8929,32 +8816,30 @@ function computeClosestPointOnTetrahedron(result2, inA, inB, inC, inD, mustInclu
     }
   }
 }
-const closestPointToSimplexProps = {
+const closestPointToSimplexProps = props({
   point: Vec3,
   squaredDistance: 0,
   pointSet: 0,
   closestPointFound: BooleanType(false)
-};
-class ClosestPointToSimplex extends createClass(
-  closestPointToSimplexProps
-) {
+});
+class ClosestPointToSimplex extends createClass()(closestPointToSimplexProps) {
 }
-const gjkClosestPointsProps = {
+const gjkClosestPointsProps = props({
   squaredDistance: 0,
   penetrationAxis: Vec3,
   pointA: Vec3,
   pointB: Vec3
-};
-class GjkClosestPoints extends createClass(gjkClosestPointsProps) {
+});
+class GjkClosestPoints extends createClass()(gjkClosestPointsProps) {
 }
-const gjkCastShapeResultProps = {
+const gjkCastShapeResultProps = props({
   isHitFound: false,
   lambda: 1,
   separatingAxis: Vec3,
   pointA: Vec3,
   pointB: Vec3
-};
-class GjkCastShapeResult extends createClass(gjkCastShapeResultProps) {
+});
+class GjkCastShapeResult extends createClass()(gjkCastShapeResultProps) {
 }
 const transformedConvexObject = /* @__PURE__ */ new TransformedConvexObject();
 const y0 = /* @__PURE__ */ Vec3.create();
@@ -9437,15 +9322,103 @@ class GjkModule {
   }
 }
 const v = /* @__PURE__ */ Vec3.create();
-const edgeProps = {
+var CollisionStatus = /* @__PURE__ */ ((CollisionStatus2) => {
+  CollisionStatus2[CollisionStatus2["NotColliding"] = 0] = "NotColliding";
+  CollisionStatus2[CollisionStatus2["Colliding"] = 1] = "Colliding";
+  CollisionStatus2[CollisionStatus2["Indeterminate"] = 2] = "Indeterminate";
+  return CollisionStatus2;
+})(CollisionStatus || {});
+const collisionResultProps = props({
+  status: NumberType(
+    2
+    /* Indeterminate */
+  ),
+  hasContact: BooleanType(false),
+  penetration: 0,
+  contactPointA: Vec3,
+  contactPointB: Vec3,
+  normalA: Vec3,
+  normalB: Vec3,
+  momentArmA: Vec3,
+  momentArmB: Vec3,
+  surfaceNormalA: Vec3,
+  surfaceNormalB: Vec3,
+  bodyA: LazyReferenceType((() => Body)),
+  bodyB: LazyReferenceType((() => Body)),
+  subShapeIdA: 0,
+  subShapeIdB: 0,
+  isBackFace: BooleanType(false),
+  faceA: Face,
+  faceB: Face
+});
+class CollisionResult extends createClass()(collisionResultProps) {
+  /**
+   * swaps the A and B data
+   */
+  swap() {
+    this.contactPointA.swap(this.contactPointB);
+    this.normalA.swap(this.normalB);
+    this.momentArmA.swap(this.momentArmB);
+    this.surfaceNormalA.swap(this.surfaceNormalB);
+    const tempBody = this.bodyA;
+    this.bodyA = this.bodyB;
+    this.bodyB = tempBody;
+    const tempSubShapeId = this.subShapeIdA;
+    this.subShapeIdA = this.subShapeIdB;
+    this.subShapeIdB = tempSubShapeId;
+    const tempFace = this.faceA;
+    this.faceA = this.faceB;
+    this.faceB = tempFace;
+  }
+}
+const _CollisionCollector = class _CollisionCollector {
+  constructor() {
+    this.earlyOutFraction = _CollisionCollector.initialEarlyOutFraction;
+    this.body2 = null;
+  }
+  getEarlyOutFraction() {
+    return _CollisionCollector.initialEarlyOutFraction;
+  }
+  getPositiveEarlyOutFraction() {
+    return Math.max(Number.MIN_VALUE, this.earlyOutFraction);
+  }
+  reset() {
+    this.earlyOutFraction = _CollisionCollector.initialEarlyOutFraction;
+    this.body2 = null;
+    return this;
+  }
+  addHit(result2) {
+  }
+  addMiss() {
+  }
+};
+_CollisionCollector.initialEarlyOutFraction = Infinity;
+_CollisionCollector.shouldEarlyOutFraction = -Infinity;
+let CollisionCollector = _CollisionCollector;
+var CollectFacesMode = /* @__PURE__ */ ((CollectFacesMode2) => {
+  CollectFacesMode2[CollectFacesMode2["CollectFaces"] = 0] = "CollectFaces";
+  CollectFacesMode2[CollectFacesMode2["NoFaces"] = 1] = "NoFaces";
+  return CollectFacesMode2;
+})(CollectFacesMode || {});
+var ActiveEdgeMode = /* @__PURE__ */ ((ActiveEdgeMode2) => {
+  ActiveEdgeMode2[ActiveEdgeMode2["CollideOnlyWithActive"] = 0] = "CollideOnlyWithActive";
+  ActiveEdgeMode2[ActiveEdgeMode2["CollideWithAll"] = 1] = "CollideWithAll";
+  return ActiveEdgeMode2;
+})(ActiveEdgeMode || {});
+var BackFaceMode = /* @__PURE__ */ ((BackFaceMode2) => {
+  BackFaceMode2[BackFaceMode2["IgnoreBackFaces"] = 0] = "IgnoreBackFaces";
+  BackFaceMode2[BackFaceMode2["CollideWithBackFaces"] = 1] = "CollideWithBackFaces";
+  return BackFaceMode2;
+})(BackFaceMode || {});
+const edgeProps = props({
   neighbourTriangle: LazyReferenceType((() => Triangle2)),
   neighbourEdge: 0,
   startIndex: 0
-};
-class Edge extends createClass(edgeProps) {
+});
+class Edge extends createClass()(edgeProps) {
   //
 }
-const triangleProps = {
+const triangleProps = props({
   edge0: Edge,
   edge1: Edge,
   edge2: Edge,
@@ -9459,7 +9432,7 @@ const triangleProps = {
   removed: BooleanType(false),
   inQueue: BooleanType(false),
   iteration: 0
-};
+});
 const vectorAB$4 = /* @__PURE__ */ Vec3.create();
 const y10 = /* @__PURE__ */ Vec3.create();
 const y20 = /* @__PURE__ */ Vec3.create();
@@ -9538,7 +9511,7 @@ function initTriangle(m, inIdx0, inIdx1, inIdx2, inPositions, minTriangleArea, b
     }
   }
 }
-class Triangle2 extends createClass(triangleProps) {
+class Triangle2 extends createClass()(triangleProps) {
   isFacing(inPosition) {
     vectorAB$4.subtractVectors(inPosition, this.centroid);
     return this.normal.dot(vectorAB$4) > 0;
@@ -10048,15 +10021,13 @@ const p10 = /* @__PURE__ */ Vec3.create();
 const p12 = /* @__PURE__ */ Vec3.create();
 const q10 = /* @__PURE__ */ Vec3.create();
 const q12 = /* @__PURE__ */ Vec3.create();
-const penetrationDepthProps = {
+const penetrationDepthProps = props({
   status: 0,
   penetrationAxis: Vec3,
   pointA: Vec3,
   pointB: Vec3
-};
-class PenetrationDepth extends createClass(
-  penetrationDepthProps
-) {
+});
+class PenetrationDepth extends createClass()(penetrationDepthProps) {
 }
 const transformed_a = /* @__PURE__ */ new TransformedConvexObject();
 const closest = /* @__PURE__ */ GjkClosestPoints.create();
@@ -11218,88 +11189,79 @@ function collideCompoundVsTriangleMesh(penetrationDepthModule2, collector2, shap
 function noOp() {
   return;
 }
-const collideShapesFns = {
-  [ShapeType.sphere]: {
-    [ShapeType.box]: collideConvexVsConvex,
-    [ShapeType.capsule]: collideConvexVsConvex,
-    [ShapeType.convexHull]: collideConvexVsConvex,
-    [ShapeType.compoundShape]: collideConvexVsCompound,
-    [ShapeType.cylinder]: collideConvexVsConvex,
-    [ShapeType.heightMap]: collideConvexVsHeightMap,
-    [ShapeType.sphere]: collideSphereVsSphere,
-    [ShapeType.triangleMesh]: collideConvexVsTriangleMesh
-  },
-  [ShapeType.box]: {
-    [ShapeType.box]: collideConvexVsConvex,
-    [ShapeType.capsule]: collideConvexVsConvex,
-    [ShapeType.compoundShape]: collideConvexVsCompound,
-    [ShapeType.convexHull]: collideConvexVsConvex,
-    [ShapeType.cylinder]: collideConvexVsConvex,
-    [ShapeType.heightMap]: collideConvexVsHeightMap,
-    [ShapeType.sphere]: collideConvexVsConvex,
-    [ShapeType.triangleMesh]: collideConvexVsTriangleMesh
-  },
-  [ShapeType.convexHull]: {
-    [ShapeType.box]: collideConvexVsConvex,
-    [ShapeType.capsule]: collideConvexVsConvex,
-    [ShapeType.compoundShape]: collideConvexVsCompound,
-    [ShapeType.convexHull]: collideConvexVsConvex,
-    [ShapeType.cylinder]: collideConvexVsConvex,
-    [ShapeType.heightMap]: collideConvexVsHeightMap,
-    [ShapeType.sphere]: collideConvexVsConvex,
-    [ShapeType.triangleMesh]: collideConvexVsTriangleMesh
-  },
-  [ShapeType.compoundShape]: {
-    [ShapeType.box]: collideCompoundVsConvex,
-    [ShapeType.capsule]: collideCompoundVsConvex,
-    [ShapeType.compoundShape]: collideCompoundVsCompound,
-    [ShapeType.convexHull]: collideCompoundVsConvex,
-    [ShapeType.cylinder]: collideCompoundVsConvex,
-    [ShapeType.heightMap]: collideCompoundVsHeightMap,
-    [ShapeType.sphere]: collideCompoundVsConvex,
-    [ShapeType.triangleMesh]: collideCompoundVsTriangleMesh
-  },
-  [ShapeType.cylinder]: {
-    [ShapeType.box]: collideConvexVsConvex,
-    [ShapeType.capsule]: collideConvexVsConvex,
-    [ShapeType.compoundShape]: collideConvexVsCompound,
-    [ShapeType.convexHull]: collideConvexVsConvex,
-    [ShapeType.cylinder]: collideConvexVsConvex,
-    [ShapeType.heightMap]: collideConvexVsHeightMap,
-    [ShapeType.sphere]: collideConvexVsConvex,
-    [ShapeType.triangleMesh]: collideConvexVsTriangleMesh
-  },
-  [ShapeType.capsule]: {
-    [ShapeType.box]: collideConvexVsConvex,
-    [ShapeType.capsule]: collideConvexVsConvex,
-    [ShapeType.compoundShape]: collideConvexVsCompound,
-    [ShapeType.convexHull]: collideConvexVsConvex,
-    [ShapeType.cylinder]: collideConvexVsConvex,
-    [ShapeType.heightMap]: collideConvexVsHeightMap,
-    [ShapeType.sphere]: collideConvexVsConvex,
-    [ShapeType.triangleMesh]: collideConvexVsTriangleMesh
-  },
-  [ShapeType.heightMap]: {
-    [ShapeType.box]: collideHeightMapVsConvex,
-    [ShapeType.capsule]: collideHeightMapVsConvex,
-    [ShapeType.compoundShape]: collideHeightMapVsCompound,
-    [ShapeType.convexHull]: collideHeightMapVsConvex,
-    [ShapeType.cylinder]: collideHeightMapVsConvex,
-    [ShapeType.heightMap]: noOp,
-    [ShapeType.sphere]: collideHeightMapVsConvex,
-    [ShapeType.triangleMesh]: noOp
-  },
-  [ShapeType.triangleMesh]: {
-    [ShapeType.box]: collideTriangleMeshVsConvex,
-    [ShapeType.capsule]: collideTriangleMeshVsConvex,
-    [ShapeType.compoundShape]: collideTriangleMeshVsCompound,
-    [ShapeType.convexHull]: collideTriangleMeshVsConvex,
-    [ShapeType.cylinder]: collideTriangleMeshVsConvex,
-    [ShapeType.heightMap]: noOp,
-    [ShapeType.sphere]: collideTriangleMeshVsConvex,
-    [ShapeType.triangleMesh]: noOp
-  }
-};
+const collideShapesFns = [];
+collideShapesFns[ShapeType.box] = [];
+collideShapesFns[ShapeType.capsule] = [];
+collideShapesFns[ShapeType.compoundShape] = [];
+collideShapesFns[ShapeType.convexHull] = [];
+collideShapesFns[ShapeType.cylinder] = [];
+collideShapesFns[ShapeType.heightMap] = [];
+collideShapesFns[ShapeType.sphere] = [];
+collideShapesFns[ShapeType.triangleMesh] = [];
+collideShapesFns[ShapeType.box][ShapeType.box] = collideConvexVsConvex;
+collideShapesFns[ShapeType.box][ShapeType.capsule] = collideConvexVsConvex;
+collideShapesFns[ShapeType.box][ShapeType.compoundShape] = collideConvexVsCompound;
+collideShapesFns[ShapeType.box][ShapeType.convexHull] = collideConvexVsConvex;
+collideShapesFns[ShapeType.box][ShapeType.cylinder] = collideConvexVsConvex;
+collideShapesFns[ShapeType.box][ShapeType.heightMap] = collideConvexVsHeightMap;
+collideShapesFns[ShapeType.box][ShapeType.sphere] = collideConvexVsConvex;
+collideShapesFns[ShapeType.box][ShapeType.triangleMesh] = collideConvexVsTriangleMesh;
+collideShapesFns[ShapeType.capsule][ShapeType.box] = collideConvexVsConvex;
+collideShapesFns[ShapeType.capsule][ShapeType.capsule] = collideConvexVsConvex;
+collideShapesFns[ShapeType.capsule][ShapeType.compoundShape] = collideConvexVsCompound;
+collideShapesFns[ShapeType.capsule][ShapeType.convexHull] = collideConvexVsConvex;
+collideShapesFns[ShapeType.capsule][ShapeType.cylinder] = collideConvexVsConvex;
+collideShapesFns[ShapeType.capsule][ShapeType.heightMap] = collideConvexVsHeightMap;
+collideShapesFns[ShapeType.capsule][ShapeType.sphere] = collideConvexVsConvex;
+collideShapesFns[ShapeType.capsule][ShapeType.triangleMesh] = collideConvexVsTriangleMesh;
+collideShapesFns[ShapeType.compoundShape][ShapeType.box] = collideCompoundVsConvex;
+collideShapesFns[ShapeType.compoundShape][ShapeType.capsule] = collideCompoundVsConvex;
+collideShapesFns[ShapeType.compoundShape][ShapeType.compoundShape] = collideCompoundVsCompound;
+collideShapesFns[ShapeType.compoundShape][ShapeType.convexHull] = collideCompoundVsConvex;
+collideShapesFns[ShapeType.compoundShape][ShapeType.cylinder] = collideCompoundVsConvex;
+collideShapesFns[ShapeType.compoundShape][ShapeType.heightMap] = collideCompoundVsHeightMap;
+collideShapesFns[ShapeType.compoundShape][ShapeType.sphere] = collideCompoundVsConvex;
+collideShapesFns[ShapeType.compoundShape][ShapeType.triangleMesh] = collideCompoundVsTriangleMesh;
+collideShapesFns[ShapeType.convexHull][ShapeType.box] = collideConvexVsConvex;
+collideShapesFns[ShapeType.convexHull][ShapeType.capsule] = collideConvexVsConvex;
+collideShapesFns[ShapeType.convexHull][ShapeType.compoundShape] = collideConvexVsCompound;
+collideShapesFns[ShapeType.convexHull][ShapeType.convexHull] = collideConvexVsConvex;
+collideShapesFns[ShapeType.convexHull][ShapeType.cylinder] = collideConvexVsConvex;
+collideShapesFns[ShapeType.convexHull][ShapeType.heightMap] = collideConvexVsHeightMap;
+collideShapesFns[ShapeType.convexHull][ShapeType.sphere] = collideConvexVsConvex;
+collideShapesFns[ShapeType.convexHull][ShapeType.triangleMesh] = collideConvexVsTriangleMesh;
+collideShapesFns[ShapeType.cylinder][ShapeType.box] = collideConvexVsConvex;
+collideShapesFns[ShapeType.cylinder][ShapeType.capsule] = collideConvexVsConvex;
+collideShapesFns[ShapeType.cylinder][ShapeType.compoundShape] = collideConvexVsCompound;
+collideShapesFns[ShapeType.cylinder][ShapeType.convexHull] = collideConvexVsConvex;
+collideShapesFns[ShapeType.cylinder][ShapeType.cylinder] = collideConvexVsConvex;
+collideShapesFns[ShapeType.cylinder][ShapeType.heightMap] = collideConvexVsHeightMap;
+collideShapesFns[ShapeType.cylinder][ShapeType.sphere] = collideConvexVsConvex;
+collideShapesFns[ShapeType.cylinder][ShapeType.triangleMesh] = collideConvexVsTriangleMesh;
+collideShapesFns[ShapeType.heightMap][ShapeType.box] = collideHeightMapVsConvex;
+collideShapesFns[ShapeType.heightMap][ShapeType.capsule] = collideHeightMapVsConvex;
+collideShapesFns[ShapeType.heightMap][ShapeType.compoundShape] = collideHeightMapVsCompound;
+collideShapesFns[ShapeType.heightMap][ShapeType.convexHull] = collideHeightMapVsConvex;
+collideShapesFns[ShapeType.heightMap][ShapeType.cylinder] = collideHeightMapVsConvex;
+collideShapesFns[ShapeType.heightMap][ShapeType.heightMap] = noOp;
+collideShapesFns[ShapeType.heightMap][ShapeType.sphere] = collideHeightMapVsConvex;
+collideShapesFns[ShapeType.heightMap][ShapeType.triangleMesh] = noOp;
+collideShapesFns[ShapeType.sphere][ShapeType.box] = collideConvexVsConvex;
+collideShapesFns[ShapeType.sphere][ShapeType.capsule] = collideConvexVsConvex;
+collideShapesFns[ShapeType.sphere][ShapeType.compoundShape] = collideConvexVsCompound;
+collideShapesFns[ShapeType.sphere][ShapeType.convexHull] = collideConvexVsConvex;
+collideShapesFns[ShapeType.sphere][ShapeType.cylinder] = collideConvexVsConvex;
+collideShapesFns[ShapeType.sphere][ShapeType.heightMap] = collideConvexVsHeightMap;
+collideShapesFns[ShapeType.sphere][ShapeType.sphere] = collideSphereVsSphere;
+collideShapesFns[ShapeType.sphere][ShapeType.triangleMesh] = collideConvexVsTriangleMesh;
+collideShapesFns[ShapeType.triangleMesh][ShapeType.box] = collideTriangleMeshVsConvex;
+collideShapesFns[ShapeType.triangleMesh][ShapeType.capsule] = collideTriangleMeshVsConvex;
+collideShapesFns[ShapeType.triangleMesh][ShapeType.compoundShape] = collideTriangleMeshVsCompound;
+collideShapesFns[ShapeType.triangleMesh][ShapeType.convexHull] = collideTriangleMeshVsConvex;
+collideShapesFns[ShapeType.triangleMesh][ShapeType.cylinder] = collideTriangleMeshVsConvex;
+collideShapesFns[ShapeType.triangleMesh][ShapeType.heightMap] = noOp;
+collideShapesFns[ShapeType.triangleMesh][ShapeType.sphere] = collideTriangleMeshVsConvex;
+collideShapesFns[ShapeType.triangleMesh][ShapeType.triangleMesh] = noOp;
 class CollideShapesModule {
   constructor(penetrationDepthModule2) {
     this.penetrationDepthModule = penetrationDepthModule2;
@@ -11309,11 +11271,9 @@ class CollideShapesModule {
   // the isometries must transform the shapes into world space
   // the results are in world space
   collideShapes(collector2, shapeA, isometryA2, shapeB2, isometryB2, settings, bodyA, bodyB, subShapeIdA = 0, subShapeIdB = 0) {
-    const keyA = shapeA.type;
-    const keyB = shapeB2.type;
-    const collisionFunction = collideShapesFns[keyA][keyB];
+    const collisionFunction = collideShapesFns[shapeA.type][shapeB2.type];
     if (!collisionFunction) {
-      throw new Error(`no collision function found for shapes with type ${keyA} and ${keyB}`);
+      throw new Error(`no collision function found for shapes with type ${shapeA.type} and ${shapeB2.type}`);
     }
     return collisionFunction(
       this.penetrationDepthModule,
@@ -11332,13 +11292,15 @@ class CollideShapesModule {
     );
   }
 }
-const estimateCollisionResponseResultProps = {
+const estimateCollisionResponseResultProps = props({
   deltaLinearVelocityA: Vec3,
   deltaAngularVelocityA: Vec3,
   deltaLinearVelocityB: Vec3,
   deltaAngularVelocityB: Vec3
-};
-class EstimateCollisionResponseResult extends createClass(estimateCollisionResponseResultProps) {
+});
+class EstimateCollisionResponseResult extends createClass()(
+  estimateCollisionResponseResultProps
+) {
 }
 function estimateCollisionResponse(result2, manifold, timeStepSizeSeconds) {
   result2.reset();
@@ -11628,7 +11590,7 @@ class CollideBodiesModule {
     }
     isometryA.matrix.postTranslatedMatrix(inCenterOfMassTransform.matrix, offset);
     boundsA$1.copy(inShape.computedAabb);
-    boundsA$1.expand(inCollideShapeSettings ? inCollideShapeSettings.maxSeparation : 0);
+    boundsA$1.expand(inCollideShapeSettings?.maxSeparation ?? 0);
     boundsA$1.transform(inCenterOfMassTransform);
     collideShapeVisitor.initialize(
       isometryA,
@@ -11735,7 +11697,7 @@ class CastRayBodyVisitor {
   }
   visit(body2) {
     isometryB.fromRotationAndTranslation(body2.orientation, body2.computedCenterOfMassPosition);
-    this.castModule.castRay(this.collector, this.ray, body2.shape, isometryB, 1, zeroVector$1, this.settings, body2);
+    this.castModule.castRay(this.collector, this.ray, body2.shape, isometryB, 1, zeroVector$1, body2);
   }
 }
 const castRayVisitor = /* @__PURE__ */ new CastRayBodyVisitor();
@@ -12005,11 +11967,11 @@ class ManifoldCache {
 const contactPairCacheMaxDeltaPositionSquared = squared(1e-3);
 const contactPairCacheCosMaxDeltaRotationDiv2 = Math.cos(degreesToRadians(2) / 2);
 const negatedPenetrationAxis = /* @__PURE__ */ Vec3.create();
-const vec3BufferProps = {
+const vec3BufferProps = props({
   numItems: 0,
   vec3List: ReferenceListType(Vec3)
-};
-class Vec3Buffer extends createClass(vec3BufferProps) {
+});
+class Vec3Buffer extends createClass()(vec3BufferProps) {
   getVec3(out, index) {
     out.copy(this.vec3List.getAtIndex(index));
   }
@@ -12615,19 +12577,9 @@ class BvhModule {
     for (const node of this.pairs.iteratePairs()) {
       const bodyA = node.bodyA;
       const bodyB = node.bodyB;
-      if (bodyA.type === BodyType.static && bodyB.type === BodyType.static) {
+      if (bodyA.type !== BodyType.dynamic && bodyB.type !== BodyType.dynamic || bodyB.type === BodyType.static && bodyA.isSleeping) {
         continue;
       }
-      if (bodyA.type === BodyType.static && bodyB.type === BodyType.dynamic) {
-        if (bodyB.isSleeping) {
-          continue;
-        }
-      }
-      if (bodyA.type === BodyType.dynamic && bodyB.type === BodyType.static) {
-        if (bodyA.isSleeping) {
-          continue;
-        }
-      }
       yield node;
     }
   }
@@ -13069,7 +13021,7 @@ function castConvexVsTriangleMesh(penetrationDepthModule2, ioCollector, inShapeA
   isometryWorldToB$2.matrix.multiply3x3(transformedDisplacement, displacement2);
   inShapeB.bvh.castAabb(onHit$2, boundsA, transformedDisplacement);
 }
-function castRayVsConvex(penetrationDepthModule2, ioCollector, inRay, inShapeB, isometryB2, inScaleB, offset2, inSettings, bodyB = null) {
+function castRayVsConvex(penetrationDepthModule2, ioCollector, inRay, inShapeB, isometryB2, inScaleB, offset2, bodyB = null) {
   const convexB2 = inShapeB.computeSupportShape(SupportMode.IncludeConvexRadius, 1);
   raycast.fraction = ioCollector.getEarlyOutFraction();
   worldToB.matrix.invertMatrix(isometryB2.matrix);
@@ -13095,7 +13047,7 @@ const result$2 = /* @__PURE__ */ CastResult.create();
 const raycast = { fraction: 0 };
 const transformedRay$2 = /* @__PURE__ */ Ray.create();
 const worldToB = /* @__PURE__ */ Isometry.create();
-function castRayVsCompound(penetrationDepthModule2, ioCollector, inRay, inShapeB, isometryB2, inScaleB, offset2, inSettings, bodyB = null) {
+function castRayVsCompound(penetrationDepthModule2, ioCollector, inRay, inShapeB, isometryB2, inScaleB, offset2, bodyB = null) {
   for (const shapeObj of inShapeB.shapes) {
     const shape = shapeObj.shape;
     const transform2 = shapeObj.transform;
@@ -13109,7 +13061,6 @@ function castRayVsCompound(penetrationDepthModule2, ioCollector, inRay, inShapeB
       transformSubShapeBToWorld,
       inScaleB,
       offset2,
-      inSettings,
       bodyB
     );
   }
@@ -13136,7 +13087,7 @@ function onHit$1(triangle2) {
   collector$1.addHit(result$1);
   return false;
 }
-function castRayVsTriangleMesh(penetrationDepthModule2, ioCollector, inRay, inShapeB, isometryB2, inScaleB, offset2, inSettings, bodyB = null) {
+function castRayVsTriangleMesh(penetrationDepthModule2, ioCollector, inRay, inShapeB, isometryB2, inScaleB, offset2, bodyB = null) {
   ioCollector.reset();
   isometryWorldToB$1.matrix.invertMatrix(isometryB2.matrix);
   transformedRay$1.copy(inRay).transform(isometryWorldToB$1);
@@ -13169,7 +13120,7 @@ function onHit(triangle2) {
   collector.addHit(result);
   return false;
 }
-function castRayVsHeightMap(penetrationDepthModule2, ioCollector, inRay, inShapeB, isometryB2, inScaleB, offset2, inSettings, bodyB = null) {
+function castRayVsHeightMap(penetrationDepthModule2, ioCollector, inRay, inShapeB, isometryB2, inScaleB, offset2, bodyB = null) {
   ioCollector.reset();
   isometryWorldToB.matrix.invertMatrix(isometryB2.matrix);
   transformedRay.copy(inRay).transform(isometryWorldToB);
@@ -13182,100 +13133,76 @@ const result = /* @__PURE__ */ CastResult.create();
 const raycasterResult = { fraction: 1, hit: false };
 const isometryWorldToB = /* @__PURE__ */ Isometry.create();
 const transformedRay = /* @__PURE__ */ Ray.create();
-const castShapesFns = {
-  [ShapeType.sphere]: {
-    [ShapeType.box]: castConvexVsConvex,
-    [ShapeType.capsule]: castConvexVsConvex,
-    [ShapeType.compoundShape]: castConvexVsCompound,
-    [ShapeType.convexHull]: castConvexVsConvex,
-    [ShapeType.cylinder]: castConvexVsConvex,
-    [ShapeType.heightMap]: castConvexVsHeightMap,
-    [ShapeType.sphere]: castConvexVsConvex,
-    [ShapeType.triangleMesh]: castConvexVsTriangleMesh
-  },
-  [ShapeType.box]: {
-    [ShapeType.box]: castConvexVsConvex,
-    [ShapeType.capsule]: castConvexVsConvex,
-    [ShapeType.compoundShape]: castConvexVsCompound,
-    [ShapeType.convexHull]: castConvexVsConvex,
-    [ShapeType.cylinder]: castConvexVsConvex,
-    [ShapeType.heightMap]: castConvexVsHeightMap,
-    [ShapeType.sphere]: castConvexVsConvex,
-    [ShapeType.triangleMesh]: castConvexVsTriangleMesh
-  },
-  [ShapeType.capsule]: {
-    [ShapeType.box]: castConvexVsConvex,
-    [ShapeType.capsule]: castConvexVsConvex,
-    [ShapeType.compoundShape]: castConvexVsCompound,
-    [ShapeType.convexHull]: castConvexVsConvex,
-    [ShapeType.cylinder]: castConvexVsConvex,
-    [ShapeType.heightMap]: castConvexVsHeightMap,
-    [ShapeType.sphere]: castConvexVsConvex,
-    [ShapeType.triangleMesh]: castConvexVsTriangleMesh
-  },
-  [ShapeType.cylinder]: {
-    [ShapeType.box]: castConvexVsConvex,
-    [ShapeType.capsule]: castConvexVsConvex,
-    [ShapeType.compoundShape]: castConvexVsCompound,
-    [ShapeType.convexHull]: castConvexVsConvex,
-    [ShapeType.cylinder]: castConvexVsConvex,
-    [ShapeType.heightMap]: castConvexVsHeightMap,
-    [ShapeType.sphere]: castConvexVsConvex,
-    [ShapeType.triangleMesh]: castConvexVsTriangleMesh
-  },
-  [ShapeType.compoundShape]: {
-    [ShapeType.box]: castCompoundVsConvex,
-    [ShapeType.capsule]: castCompoundVsConvex,
-    // [ShapeType.compoundShape]: castCompoundVsCompound,
-    [ShapeType.convexHull]: castCompoundVsConvex,
-    [ShapeType.cylinder]: castCompoundVsConvex,
-    // [ShapeType.heightMap]: castCompoundVsHeightMap,
-    [ShapeType.sphere]: castCompoundVsConvex
-    // [ShapeType.triangleMesh]: castCompoundVsTriangleMesh,
-  }
-  // [ShapeType.heightMap]: {
-  //   [ShapeType.box]: castHeightMapVsConvex,
-  //   [ShapeType.capsule]: castHeightMapVsConvex,
-  //   [ShapeType.compoundShape]: castHeightMapVsCompound,
-  //   [ShapeType.convexHull]: castHeightMapVsConvex,
-  //   [ShapeType.cylinder]: castHeightMapVsConvex,
-  //   [ShapeType.heightMap]: castHeightMapVsHeightMap,
-  //   [ShapeType.sphere]: castHeightMapVsConvex,
-  //   [ShapeType.triangleMesh]: castHeightMapVsTriangleMesh,
-  // },
-  // [ShapeType.triangleMesh]: {
-  //   [ShapeType.box]: castTriangleMeshVsConvex,
-  //   [ShapeType.capsule]: castTriangleMeshVsConvex,
-  //   [ShapeType.compoundShape]: castTriangleMeshVsCompound,
-  //   [ShapeType.convexHull]: castTriangleMeshVsConvex,
-  //   [ShapeType.cylinder]: castTriangleMeshVsConvex,
-  //   [ShapeType.heightMap]: castTriangleMeshVsHeightMap,
-  //   [ShapeType.sphere]: castTriangleMeshVsConvex,
-  //   [ShapeType.triangleMesh]: castTriangleMeshVsTriangleMesh,
-  // },
-  // [ShapeType.triangle]: {
-  //   [ShapeType.box]: castTriangleVsConvex,
-  //   [ShapeType.sphere]: castTriangleVsConvex,
-  // },
-};
-const raycastFns = {
-  [ShapeType.sphere]: castRayVsConvex,
-  [ShapeType.box]: castRayVsConvex,
-  [ShapeType.capsule]: castRayVsConvex,
-  [ShapeType.cylinder]: castRayVsConvex,
-  [ShapeType.compoundShape]: castRayVsCompound,
-  // castRayVsCompound,
-  [ShapeType.convexHull]: castRayVsConvex,
-  [ShapeType.heightMap]: castRayVsHeightMap,
-  // castRayVsHeightMap,
-  [ShapeType.triangleMesh]: castRayVsTriangleMesh
-  // castRayVsTriangleMesh,
-};
+const castShapesFns = [];
+castShapesFns[ShapeType.box] = [];
+castShapesFns[ShapeType.capsule] = [];
+castShapesFns[ShapeType.compoundShape] = [];
+castShapesFns[ShapeType.convexHull] = [];
+castShapesFns[ShapeType.cylinder] = [];
+castShapesFns[ShapeType.heightMap] = [];
+castShapesFns[ShapeType.sphere] = [];
+castShapesFns[ShapeType.triangleMesh] = [];
+castShapesFns[ShapeType.box][ShapeType.box] = castConvexVsConvex;
+castShapesFns[ShapeType.box][ShapeType.capsule] = castConvexVsConvex;
+castShapesFns[ShapeType.box][ShapeType.compoundShape] = castConvexVsCompound;
+castShapesFns[ShapeType.box][ShapeType.convexHull] = castConvexVsConvex;
+castShapesFns[ShapeType.box][ShapeType.cylinder] = castConvexVsConvex;
+castShapesFns[ShapeType.box][ShapeType.heightMap] = castConvexVsHeightMap;
+castShapesFns[ShapeType.box][ShapeType.sphere] = castConvexVsConvex;
+castShapesFns[ShapeType.box][ShapeType.triangleMesh] = castConvexVsTriangleMesh;
+castShapesFns[ShapeType.capsule][ShapeType.box] = castConvexVsConvex;
+castShapesFns[ShapeType.capsule][ShapeType.capsule] = castConvexVsConvex;
+castShapesFns[ShapeType.capsule][ShapeType.compoundShape] = castConvexVsCompound;
+castShapesFns[ShapeType.capsule][ShapeType.convexHull] = castConvexVsConvex;
+castShapesFns[ShapeType.capsule][ShapeType.cylinder] = castConvexVsConvex;
+castShapesFns[ShapeType.capsule][ShapeType.heightMap] = castConvexVsHeightMap;
+castShapesFns[ShapeType.capsule][ShapeType.sphere] = castConvexVsConvex;
+castShapesFns[ShapeType.capsule][ShapeType.triangleMesh] = castConvexVsTriangleMesh;
+castShapesFns[ShapeType.compoundShape][ShapeType.box] = castCompoundVsConvex;
+castShapesFns[ShapeType.compoundShape][ShapeType.capsule] = castCompoundVsConvex;
+castShapesFns[ShapeType.compoundShape][ShapeType.convexHull] = castCompoundVsConvex;
+castShapesFns[ShapeType.compoundShape][ShapeType.cylinder] = castCompoundVsConvex;
+castShapesFns[ShapeType.compoundShape][ShapeType.heightMap] = castConvexVsHeightMap;
+castShapesFns[ShapeType.compoundShape][ShapeType.sphere] = castCompoundVsConvex;
+castShapesFns[ShapeType.compoundShape][ShapeType.triangleMesh] = castConvexVsTriangleMesh;
+castShapesFns[ShapeType.convexHull][ShapeType.box] = castConvexVsConvex;
+castShapesFns[ShapeType.convexHull][ShapeType.capsule] = castConvexVsConvex;
+castShapesFns[ShapeType.convexHull][ShapeType.compoundShape] = castConvexVsCompound;
+castShapesFns[ShapeType.convexHull][ShapeType.convexHull] = castConvexVsConvex;
+castShapesFns[ShapeType.convexHull][ShapeType.cylinder] = castConvexVsConvex;
+castShapesFns[ShapeType.convexHull][ShapeType.heightMap] = castConvexVsHeightMap;
+castShapesFns[ShapeType.convexHull][ShapeType.sphere] = castConvexVsConvex;
+castShapesFns[ShapeType.convexHull][ShapeType.triangleMesh] = castConvexVsTriangleMesh;
+castShapesFns[ShapeType.cylinder][ShapeType.box] = castConvexVsConvex;
+castShapesFns[ShapeType.cylinder][ShapeType.capsule] = castConvexVsConvex;
+castShapesFns[ShapeType.cylinder][ShapeType.compoundShape] = castConvexVsCompound;
+castShapesFns[ShapeType.cylinder][ShapeType.convexHull] = castConvexVsConvex;
+castShapesFns[ShapeType.cylinder][ShapeType.cylinder] = castConvexVsConvex;
+castShapesFns[ShapeType.cylinder][ShapeType.heightMap] = castConvexVsHeightMap;
+castShapesFns[ShapeType.cylinder][ShapeType.sphere] = castConvexVsConvex;
+castShapesFns[ShapeType.cylinder][ShapeType.triangleMesh] = castConvexVsTriangleMesh;
+castShapesFns[ShapeType.sphere][ShapeType.box] = castConvexVsConvex;
+castShapesFns[ShapeType.sphere][ShapeType.capsule] = castConvexVsConvex;
+castShapesFns[ShapeType.sphere][ShapeType.compoundShape] = castConvexVsCompound;
+castShapesFns[ShapeType.sphere][ShapeType.convexHull] = castConvexVsConvex;
+castShapesFns[ShapeType.sphere][ShapeType.cylinder] = castConvexVsConvex;
+castShapesFns[ShapeType.sphere][ShapeType.heightMap] = castConvexVsHeightMap;
+castShapesFns[ShapeType.sphere][ShapeType.sphere] = castConvexVsConvex;
+castShapesFns[ShapeType.sphere][ShapeType.triangleMesh] = castConvexVsTriangleMesh;
+const raycastFns = [];
+raycastFns[ShapeType.box] = castRayVsConvex;
+raycastFns[ShapeType.capsule] = castRayVsConvex;
+raycastFns[ShapeType.compoundShape] = castRayVsCompound;
+raycastFns[ShapeType.convexHull] = castRayVsConvex;
+raycastFns[ShapeType.cylinder] = castRayVsConvex;
+raycastFns[ShapeType.heightMap] = castRayVsHeightMap;
+raycastFns[ShapeType.sphere] = castRayVsConvex;
+raycastFns[ShapeType.triangleMesh] = castRayVsTriangleMesh;
 class CastShapesModule {
   constructor(penetrationDepthModule2) {
     this.penetrationDepthModule = penetrationDepthModule2;
   }
-  castRay(collector2, ray2, shapeB2, isometryB2, scaleB, offset2, settings, bodyB = null) {
+  castRay(collector2, ray2, shapeB2, isometryB2, scaleB, offset2, bodyB = null) {
     const fn = raycastFns[shapeB2.type];
     if (!fn) {
       return;
@@ -13289,7 +13216,6 @@ class CastShapesModule {
       isometryB2,
       scaleB,
       offset2,
-      settings,
       bodyB
     );
   }
@@ -13298,11 +13224,9 @@ class CastShapesModule {
   // the isometries must transform the shapes into world space
   // the results are in world space
   castShapes(collector2, shapeA, isometryA2, scaleA, shapeB2, isometryB2, scaleB, displacement2, offset2, settings, bodyA = null, bodyB = null) {
-    const keyA = shapeA.type;
-    const keyB = shapeB2.type;
-    const castFunction = castShapesFns[keyA][keyB];
+    const castFunction = castShapesFns[shapeA.type][shapeB2.type];
     if (!castFunction) {
-      throw new Error(`no cast function found for shapes with type ${keyA} and ${keyB}`);
+      throw new Error(`no cast function found for shapes with type ${shapeA.type} and ${shapeB2.type}`);
     }
     return castFunction(
       this.penetrationDepthModule,
@@ -15458,11 +15382,6 @@ class World {
       updateWorldBounds(body2);
     }
   }
-  // updateBodyProperties() {
-  //   for (const body of this.bodies()) {
-  //     // updateBody(body);
-  //   }
-  // }
   clearForcesOnBodies() {
     for (const body2 of this.dynamicBodies) {
       body2.clearForces();
@@ -15666,10 +15585,13 @@ class World {
     options.type = BodyType.static;
     options.world = this;
     const body2 = this.staticBodies.create(options);
+    const originalShape = options.shape;
+    options.shape = null;
     const bodyCopy = this.staticBodyCopies.create(options);
     bodyCopy.copy(body2);
     body2.copyForDiff = bodyCopy;
-    this.broadphase.addStaticBody(body2);
+    bodyCopy.setShape(body2.shape, false);
+    options.shape = originalShape;
     return body2;
   }
   createDynamicBody(options) {
@@ -15677,10 +15599,13 @@ class World {
     options.type = BodyType.dynamic;
     options.world = this;
     const body2 = this.dynamicBodies.create(options);
+    const originalShape = options.shape;
+    options.shape = null;
     const bodyCopy = this.dynamicBodyCopies.create(options);
     bodyCopy.copy(body2);
     body2.copyForDiff = bodyCopy;
-    this.broadphase.addDynamicBody(body2);
+    bodyCopy.setShape(body2.shape, false);
+    options.shape = originalShape;
     return body2;
   }
   createKinematicBody(options) {
@@ -15688,10 +15613,13 @@ class World {
     options.type = BodyType.kinematic;
     options.world = this;
     const body2 = this.kinematicBodies.create(options);
+    const originalShape = options.shape;
+    options.shape = null;
     const bodyCopy = this.kinematicBodyCopies.create(options);
     bodyCopy.copy(body2);
     body2.copyForDiff = bodyCopy;
-    this.broadphase.addKinematicBody(body2);
+    bodyCopy.setShape(body2.shape, false);
+    options.shape = originalShape;
     return body2;
   }
   createBody(options) {
@@ -15775,6 +15703,10 @@ class World {
   }
   // scene query API
   intersectShape(onHit2, shape, transform2, settings) {
+    if (!(transform2 instanceof BasicTransform)) {
+      tempBasicTransform.reset(transform2);
+      transform2 = tempBasicTransform;
+    }
     isometry.fromRotationAndTranslation(transform2.rotation, transform2.position);
     intersectShapeCollector.initialize(onHit2);
     this.collideBodiesModule.collideShape(
@@ -15784,7 +15716,7 @@ class World {
       intersectShapeCollector,
       collideShapeSettings,
       zeroVector,
-      AllFlag
+      settings?.collisionMask ?? AllFlag
     );
   }
   castRay(onHit2, ray2, settings) {
@@ -15793,12 +15725,8 @@ class World {
   }
   castShape(onHit2, shape, transform2, displacementOrEndPosition, settings) {
     isometry.fromRotationAndTranslation(transform2.rotation, transform2.position);
-    settings = settings || {
-      precision: QueryPrecision.preciseWithContacts,
-      returnClosestOnly: false,
-      treatAsDisplacement: false
-    };
-    if (settings.treatAsDisplacement) {
+    settings = settings || {};
+    if (settings?.treatAsDisplacement ?? false) {
       displacement.copy(displacementOrEndPosition);
     } else {
       displacement.zero();
@@ -16063,7 +15991,21 @@ class IntersectShapeCollector extends CollisionCollector {
 }
 const intersectShapeCollector = /* @__PURE__ */ new IntersectShapeCollector();
 const displacement = /* @__PURE__ */ Vec3.create();
-const castSettings = /* @__PURE__ */ createDefaultCastSettings();
+const castSettings = {
+  maxSeparation: 0,
+  collisionTolerance: 1e-4,
+  activeEdgeMode: ActiveEdgeMode.CollideOnlyWithActive,
+  collectFacesMode: CollectFacesMode.NoFaces,
+  penetrationTolerance: 1e-4,
+  activeEdgeMovementDirectionX: 0,
+  activeEdgeMovementDirectionY: 0,
+  activeEdgeMovementDirectionZ: 0,
+  backFaceMode: BackFaceMode.IgnoreBackFaces,
+  backFaceModeConvex: BackFaceMode.IgnoreBackFaces,
+  backFaceModeTriangles: BackFaceMode.IgnoreBackFaces,
+  useShrunkenShapeAndConvexRadius: false,
+  returnDeepestPoint: false
+};
 class CastShapeCollector extends CastCollector {
   constructor() {
     super(...arguments);
@@ -16077,6 +16019,7 @@ class CastShapeCollector extends CastCollector {
   }
 }
 const castShapeCollector = /* @__PURE__ */ new CastShapeCollector();
+const tempBasicTransform = /* @__PURE__ */ BasicTransform.create();
 export {
   Aabb,
   ActiveEdgeMode,