@pibbl/core 0.0.1 → 0.0.3-alpha.109.1

package/dist/features/physics/lib/2d/canvas/components.js

@@ -6,6 +6,27 @@ import {
 import { boundsOfShape2D, capsuleShape2D, chainShape2D, segmentShape2D } from "../shapes.js";
 import { requireShapeRecord2D } from "../shape-records.js";
 import { installCustomShapeResolver2D } from "./inference.js";
+const layoutPropertyKeys = [
+  "width",
+  "height",
+  "minWidth",
+  "maxWidth",
+  "minHeight",
+  "maxHeight",
+  "padding",
+  "overflow",
+  "left",
+  "top",
+  "alignSelf",
+  "justifySelf",
+  "flexBasis",
+  "flexGrow",
+  "flexShrink",
+  "gridColumnStart",
+  "gridColumnSpan",
+  "gridRowStart",
+  "gridRowSpan"
+];
 function renderPhysicsShape2D(props, style, context) {
   renderShape(props, style, style.shape, context);
 }
@@ -154,27 +175,10 @@ function appendCapsule(path, start, end, radius) {
 }
 function stripLayout(style) {
   const result = { ...style };
-  for (const key of [
-    "width",
-    "height",
-    "minWidth",
-    "maxWidth",
-    "minHeight",
-    "maxHeight",
-    "padding",
-    "overflow",
-    "left",
-    "top",
-    "alignSelf",
-    "justifySelf",
-    "flexBasis",
-    "flexGrow",
-    "flexShrink",
-    "gridColumnStart",
-    "gridColumnSpan",
-    "gridRowStart",
-    "gridRowSpan"
-  ]) delete result[key];
+  for (let keyIndex = 0; keyIndex < layoutPropertyKeys.length; keyIndex++) {
+    const key = layoutPropertyKeys[keyIndex];
+    delete result[key];
+  }
   return result;
 }
 function copyPoints(value, path) {

package/dist/features/physics/lib/2d/canvas/components.js.map

@@ -1,7 +1,7 @@
 {
   "version": 3,
   "sources": ["../../../../../../src/features/physics/lib/2d/canvas/components.ts"],
-  "sourcesContent": ["import { resolveTexturePaint } from '@pibbl/core/internal';\nimport type { FillStyle, StrokeStyle } from '@pibbl/core';\nimport {\n  useEventTarget,\n  definePrimitive,\n  type RenderingContext2D,\n} from '@pibbl/core';\nimport type {\n  Capsule2DProps,\n  Capsule2DStyle,\n  Chain2DProps,\n  Chain2DStyle,\n  PhysicsShape2DProps,\n  PhysicsShape2DStyle,\n  Segment2DProps,\n  Segment2DStyle,\n} from '../types.js';\nimport type { PibblPhysicsShape2D, PibblPhysicsVector2 } from '../../../2d-geometry.js';\nimport { boundsOfShape2D, capsuleShape2D, chainShape2D, segmentShape2D } from '../shapes.js';\nimport { requireShapeRecord2D, type ConvexLeaf2D } from '../shape-records.js';\nimport { installCustomShapeResolver2D } from './inference.js';\n\ntype ResolvedPhysicsShapeStyle2D = Readonly<PhysicsShape2DStyle>;\ntype ResolvedCapsuleStyle2D = Omit<Readonly<Capsule2DStyle>, 'start' | 'end'> & {\n  readonly start: PibblPhysicsVector2;\n  readonly end: PibblPhysicsVector2;\n};\ntype ResolvedSegmentStyle2D = Omit<Readonly<Segment2DStyle>, 'start' | 'end'> & {\n  readonly start: PibblPhysicsVector2;\n  readonly end: PibblPhysicsVector2;\n};\ntype ResolvedChainStyle2D = Omit<Readonly<Chain2DStyle>, 'points'> & {\n  readonly points: readonly PibblPhysicsVector2[];\n};\n\nfunction renderPhysicsShape2D(\n  props: PhysicsShape2DProps,\n  style: ResolvedPhysicsShapeStyle2D,\n  context: RenderingContext2D,\n): void {\n  renderShape(props, style, style.shape, context);\n}\n\nfunction renderCapsule2D(\n  props: Capsule2DProps,\n  style: Readonly<ResolvedCapsuleStyle2D>,\n  context: RenderingContext2D,\n): void {\n  renderShape(props, style, capsuleShape2D(style), context);\n}\n\nfunction renderSegment2D(\n  props: Segment2DProps,\n  style: Readonly<ResolvedSegmentStyle2D>,\n  context: RenderingContext2D,\n): void {\n  renderShape(props, style, segmentShape2D(style), context);\n}\n\nfunction renderChain2D(\n  props: Chain2DProps,\n  style: Readonly<ResolvedChainStyle2D>,\n  context: RenderingContext2D,\n): void {\n  renderShape(props, style, chainShape2D(style), context);\n}\n\n/**\n * Draws an immutable physics shape as a Canvas primitive with optional body or collider\n * attachment.\n *\n * @param props - Authored component inputs, supplied through JSX or createElement. See the linked\n * props and style types.\n * @throws When called directly; Pibbl mounts this component through JSX or createElement.\n *\n * @see {@link PhysicsShape2DProps}\n * @see {@link PhysicsShape2DStyle}\n */\nexport const PhysicsShape2D = definePrimitive<\n  PhysicsShape2DProps,\n  PhysicsShape2DStyle,\n  PhysicsShape2DStyle,\n  PhysicsShape2DStyle\n>(renderPhysicsShape2D, { resolveStyle: resolvePhysicsShapeStyle });\n\n/**\n * Draws a capsule between two endpoints with optional physics attachment.\n *\n * @param props - Authored component inputs, supplied through JSX or createElement. See the linked\n * props and style types.\n * @throws When called directly; Pibbl mounts this component through JSX or createElement.\n *\n * @see {@link Capsule2DProps}\n * @see {@link Capsule2DStyle}\n */\nexport const Capsule2D = definePrimitive<\n  Capsule2DProps,\n  Capsule2DStyle,\n  Capsule2DStyle,\n  ResolvedCapsuleStyle2D\n>(renderCapsule2D, { resolveStyle: style => ({\n  ...stripLayout(style),\n  start: copyPoint(style.start, 'Capsule2D.start'),\n  end: copyPoint(style.end, 'Capsule2D.end'),\n  radius: positive(style.radius, 'Capsule2D.radius'),\n}) });\n\n/**\n * Draws a line segment with optional physics attachment.\n *\n * @param props - Authored component inputs, supplied through JSX or createElement. See the linked\n * props and style types.\n * @throws When called directly; Pibbl mounts this component through JSX or createElement.\n *\n * @see {@link Segment2DProps}\n * @see {@link Segment2DStyle}\n */\nexport const Segment2D = definePrimitive<\n  Segment2DProps,\n  Segment2DStyle,\n  Segment2DStyle,\n  ResolvedSegmentStyle2D\n>(renderSegment2D, { resolveStyle: style => ({\n  ...stripLayout(style),\n  start: copyPoint(style.start, 'Segment2D.start'),\n  end: copyPoint(style.end, 'Segment2D.end'),\n}) });\n\n/**\n * Draws an open or closed point chain with optional physics attachment.\n *\n * @param props - Authored component inputs, supplied through JSX or createElement. See the linked\n * props and style types.\n * @throws When called directly; Pibbl mounts this component through JSX or createElement.\n *\n * @see {@link Chain2DProps}\n * @see {@link Chain2DStyle}\n */\nexport const Chain2D = definePrimitive<\n  Chain2DProps,\n  Chain2DStyle,\n  Chain2DStyle,\n  ResolvedChainStyle2D\n>(renderChain2D, { resolveStyle: style => ({\n  ...stripLayout(style),\n  points: Object.freeze(style.points.map((point, index) => copyPoint(point, `Chain2D.points[${index}]`))),\n  closed: style.closed ?? false,\n  radius: nonnegative(style.radius ?? 0, 'Chain2D.radius'),\n}) });\n\ninstallCustomShapeResolver2D(PhysicsShape2D, style => requireShape(style.shape, 'PhysicsShape2D.shape'));\ninstallCustomShapeResolver2D(Capsule2D, style => capsuleShape2D({\n  start: copyPoint(style.start, 'Capsule2D.start'),\n  end: copyPoint(style.end, 'Capsule2D.end'),\n  radius: positive(style.radius, 'Capsule2D.radius'),\n}));\ninstallCustomShapeResolver2D(Segment2D, style => segmentShape2D({\n  start: copyPoint(style.start, 'Segment2D.start'),\n  end: copyPoint(style.end, 'Segment2D.end'),\n}));\ninstallCustomShapeResolver2D(Chain2D, style => chainShape2D({\n  points: copyPoints(style.points, 'Chain2D.points'),\n  closed: style.closed === true,\n  radius: nonnegative(style.radius ?? 0, 'Chain2D.radius'),\n}));\n\nfunction resolvePhysicsShapeStyle(style: Readonly<PhysicsShape2DStyle>): ResolvedPhysicsShapeStyle2D {\n  requireShape(style.shape, 'PhysicsShape2D.shape');\n  return stripLayout(style) as ResolvedPhysicsShapeStyle2D;\n}\n\nfunction renderShape(\n  props: PhysicsShape2DProps,\n  style: Readonly<{\n    readonly fill?: FillStyle;\n    readonly stroke?: StrokeStyle;\n    readonly strokeWidth?: number;\n    readonly opacity?: number;\n    readonly cursor?: string;\n    readonly lineInteractionWidth?: number;\n  }>,\n  shape: PibblPhysicsShape2D,\n  context: RenderingContext2D,\n): void {\n  const record = requireShapeRecord2D(shape);\n  const path = pathForShape(shape);\n  const opacity = style.opacity ?? 1;\n  if (!Number.isFinite(opacity) || opacity < 0 || opacity > 1) {\n    throw new RangeError('Physics shape opacity must be finite from zero through one.');\n  }\n  const bounds = boundsOfShape2D(shape);\n  const paintBounds = {x: bounds.min[0], y: bounds.min[1], width: bounds.max[0]-bounds.min[0], height: bounds.max[1]-bounds.min[1]};\n  context.globalAlpha *= opacity;\n  if (style.fill !== undefined) {\n    context.fillStyle = resolveTexturePaint(style.fill, context, paintBounds);\n    context.fill(path);\n  }\n  const strokeWidth = nonnegative(style.strokeWidth ?? 0, 'Physics shape strokeWidth');\n  if (style.stroke !== undefined && strokeWidth > 0) {\n    context.strokeStyle = resolveTexturePaint(style.stroke, context, paintBounds);\n    context.lineWidth = strokeWidth;\n    context.stroke(path);\n  }\n  const interactivePath = props.pointerEvents === 'none' ? new Path2D() : path;\n  useEventTarget(props, {\n    path: interactivePath,\n    fill: style.fill !== undefined && record.area > 0,\n    lineInteractionWidth: style.lineInteractionWidth ?? strokeWidth,\n    cursor: style.cursor,\n    keyboardFocusable: props.keyboardFocusable,\n    keyboardNavigationBounds: props.keyboardNavigationBounds ?? {\n      x: bounds.min[0], y: bounds.min[1],\n      width: bounds.max[0] - bounds.min[0], height: bounds.max[1] - bounds.min[1],\n    },\n  });\n}\n\nfunction pathForShape(shape: PibblPhysicsShape2D): Path2D {\n  const record = requireShapeRecord2D(shape);\n  const local = new Path2D();\n  for (const leaf of record.leaves) appendLeaf(local, leaf);\n  if (record.localPose.x === 0 && record.localPose.y === 0 && record.localPose.rotationRadians === 0) return local;\n  const result = new Path2D();\n  result.addPath(local, new DOMMatrix()\n    .translate(record.localPose.x, record.localPose.y)\n    .rotate(record.localPose.rotationRadians * 180 / Math.PI));\n  return result;\n}\n\nfunction appendLeaf(path: Path2D, leaf: ConvexLeaf2D): void {\n  switch (leaf.kind) {\n    case 'circle':\n      path.moveTo(leaf.center[0]! + leaf.radius, leaf.center[1]!);\n      path.arc(leaf.center[0]!, leaf.center[1]!, leaf.radius, 0, Math.PI * 2);\n      path.closePath();\n      return;\n    case 'ellipse':\n      path.moveTo(leaf.center[0]! + leaf.radiusX, leaf.center[1]!);\n      path.ellipse(leaf.center[0]!, leaf.center[1]!, leaf.radiusX, leaf.radiusY, leaf.rotationRadians, 0, Math.PI * 2);\n      path.closePath();\n      return;\n    case 'box':\n      path.rect(leaf.center[0]! - leaf.halfWidth, leaf.center[1]! - leaf.halfHeight, leaf.halfWidth * 2, leaf.halfHeight * 2);\n      return;\n    case 'rounded-box':\n      path.roundRect(\n        leaf.center[0]! - leaf.halfWidth,\n        leaf.center[1]! - leaf.halfHeight,\n        leaf.halfWidth * 2,\n        leaf.halfHeight * 2,\n        Array.from(leaf.radii),\n      );\n      return;\n    case 'capsule':\n      appendCapsule(path, leaf.start, leaf.end, leaf.radius);\n      return;\n    case 'segment':\n      path.moveTo(leaf.start[0]!, leaf.start[1]!);\n      path.lineTo(leaf.end[0]!, leaf.end[1]!);\n      return;\n    case 'polygon':\n      path.moveTo(leaf.vertices[0]!, leaf.vertices[1]!);\n      for (let index = 2; index < leaf.vertices.length; index += 2) path.lineTo(leaf.vertices[index]!, leaf.vertices[index + 1]!);\n      path.closePath();\n  }\n}\n\nfunction appendCapsule(path: Path2D, start: Float64Array, end: Float64Array, radius: number): void {\n  const dx = end[0]! - start[0]!, dy = end[1]! - start[1]!, length = Math.hypot(dx, dy);\n  if (length === 0) {\n    path.moveTo(start[0]! + radius, start[1]!);\n    path.arc(start[0]!, start[1]!, radius, 0, Math.PI * 2);\n    path.closePath();\n    return;\n  }\n  const normal = Math.atan2(dy, dx) - Math.PI / 2;\n  path.moveTo(start[0]! + Math.cos(normal) * radius, start[1]! + Math.sin(normal) * radius);\n  path.lineTo(end[0]! + Math.cos(normal) * radius, end[1]! + Math.sin(normal) * radius);\n  path.arc(end[0]!, end[1]!, radius, normal, normal + Math.PI);\n  path.lineTo(start[0]! - Math.cos(normal) * radius, start[1]! - Math.sin(normal) * radius);\n  path.arc(start[0]!, start[1]!, radius, normal + Math.PI, normal + Math.PI * 2);\n  path.closePath();\n}\n\nfunction stripLayout<T extends Readonly<Record<PropertyKey, unknown>>>(style: T): T {\n  const result = { ...style } as Record<PropertyKey, unknown>;\n  for (const key of [\n    'width', 'height', 'minWidth', 'maxWidth', 'minHeight', 'maxHeight', 'padding', 'overflow',\n    'left', 'top', 'alignSelf', 'justifySelf', 'flexBasis', 'flexGrow', 'flexShrink',\n    'gridColumnStart', 'gridColumnSpan', 'gridRowStart', 'gridRowSpan',\n  ]) delete result[key];\n  return result as T;\n}\n\nfunction copyPoints(value: unknown, path: string): readonly PibblPhysicsVector2[] {\n  if (!Array.isArray(value)) throw new TypeError(`${path} must be an array.`);\n  return Object.freeze(value.map((point, index) => copyPoint(point, `${path}[${index}]`)));\n}\n\nfunction copyPoint(value: unknown, path: string): PibblPhysicsVector2 {\n  if (!Array.isArray(value) || value.length !== 2 || value.some(entry => typeof entry !== 'number' || !Number.isFinite(entry))) {\n    throw new TypeError(`${path} must be a finite two-dimensional point.`);\n  }\n  return Object.freeze([value[0] as number, value[1] as number] as const);\n}\n\nfunction positive(value: unknown, path: string): number {\n  if (typeof value !== 'number' || !Number.isFinite(value) || value <= 0) throw new RangeError(`${path} must be finite and greater than zero.`);\n  return value;\n}\n\nfunction nonnegative(value: unknown, path: string): number {\n  if (typeof value !== 'number' || !Number.isFinite(value) || value < 0) throw new RangeError(`${path} must be finite and nonnegative.`);\n  return value;\n}\n\nfunction requireShape(value: unknown, path: string): PibblPhysicsShape2D {\n  try {\n    requireShapeRecord2D(value as PibblPhysicsShape2D);\n    return value as PibblPhysicsShape2D;\n  } catch {\n    throw new TypeError(`${path} must be a Pibbl physics 2D shape.`);\n  }\n}\n"],
-  "mappings": 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See the linked\n * props and style types.\n * @throws When called directly; Pibbl mounts this component through JSX or createElement.\n *\n * @see {@link Capsule2DProps}\n * @see {@link Capsule2DStyle}\n */\nexport const Capsule2D = definePrimitive<\n  Capsule2DProps,\n  Capsule2DStyle,\n  Capsule2DStyle,\n  ResolvedCapsuleStyle2D\n>(renderCapsule2D, { resolveStyle: style => ({\n  ...stripLayout(style),\n  start: copyPoint(style.start, 'Capsule2D.start'),\n  end: copyPoint(style.end, 'Capsule2D.end'),\n  radius: positive(style.radius, 'Capsule2D.radius'),\n}) });\n\n/**\n * Draws a line segment with optional physics attachment.\n *\n * @param props - Authored component inputs, supplied through JSX or createElement. 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 }

package/dist/features/physics/lib/2d/canvas/presentation.js

@@ -106,8 +106,7 @@ function validateRigidAncestor(matrix, componentName) {
   }
 }
 function validateFiniteInvertible(matrix, label) {
-  const values = [matrix.a, matrix.b, matrix.c, matrix.d, matrix.e, matrix.f];
-  if (values.some((value) => !Number.isFinite(value))) {
+  if (!Number.isFinite(matrix.a) || !Number.isFinite(matrix.b) || !Number.isFinite(matrix.c) || !Number.isFinite(matrix.d) || !Number.isFinite(matrix.e) || !Number.isFinite(matrix.f)) {
     throw new TypeError(`${label} must contain only finite values.`);
   }
   if (Math.abs(matrix.a * matrix.d - matrix.b * matrix.c) <= 1e-10) {

package/dist/features/physics/lib/2d/canvas/presentation.js.map

@@ -1,7 +1,7 @@
 {
   "version": 3,
   "sources": ["../../../../../../src/features/physics/lib/2d/canvas/presentation.ts"],
-  "sourcesContent": ["import type { PibblPhysicsPose2D } from \"../../../2d-geometry.js\";\nimport { Group } from \"@pibbl/core\";\n\nconst MATRIX_EPSILON = 1e-6;\n\nexport interface CanvasBodyPresentationCapture2D {\n  readonly initialPose: PibblPhysicsPose2D;\n  readonly parentWorld: DOMMatrix;\n  readonly initialBodyLocal: DOMMatrix;\n  readonly poseResidual: DOMMatrix;\n}\n\nexport function captureBodyPresentation2D(\n  parentWorld: DOMMatrixReadOnly,\n  initialBodyLocal: DOMMatrixReadOnly,\n  componentName: string,\n  requireRigidAncestor = true,\n): CanvasBodyPresentationCapture2D {\n  if (requireRigidAncestor) validateRigidAncestor(parentWorld, componentName);\n  else\n    validateFiniteInvertible(\n      parentWorld,\n      `${componentName} ancestor transform`,\n    );\n  validateFiniteInvertible(\n    initialBodyLocal,\n    `${componentName} authored transform`,\n  );\n  if (requireRigidAncestor) {\n    validateUnskewed(initialBodyLocal, `${componentName} authored transform`);\n  }\n  const world = copyMatrix(parentWorld).multiply(initialBodyLocal);\n  const scaleX = Math.hypot(world.a, world.b);\n  const initialPose = Object.freeze({\n    position: Object.freeze([clean(world.e), clean(world.f)] as const),\n    rotationDegrees: clean(\n      (Math.atan2(world.b / scaleX, world.a / scaleX) * 180) / Math.PI,\n    ),\n  });\n  const poseMatrix = matrixFromPose(initialPose);\n  return Object.freeze({\n    initialPose,\n    parentWorld: copyMatrix(parentWorld),\n    initialBodyLocal: copyMatrix(initialBodyLocal),\n    poseResidual: poseMatrix.inverse().multiply(world),\n  });\n}\n\nexport function resolveDynamicPresentationTransform2D(\n  capture: CanvasBodyPresentationCapture2D,\n  presentedPose: PibblPhysicsPose2D,\n  parentWorld: DOMMatrixReadOnly,\n  currentBodyLocal: DOMMatrixReadOnly,\n  componentName: string,\n): DOMMatrix {\n  validateRigidAncestor(parentWorld, componentName);\n  if (!sameMatrix(parentWorld, capture.parentWorld)) {\n    throw new Error(\n      `${componentName} ancestor transform changed while an enabled dynamic body owns pose. ` +\n        \"Use teleportBody2D(), a kinematic body, or disable physics before authored motion.\",\n    );\n  }\n  if (!sameMatrix(currentBodyLocal, capture.initialBodyLocal)) {\n    throw new Error(\n      `${componentName} authored pose changed while an enabled dynamic body owns pose. ` +\n        \"Use teleportBody2D(), a kinematic body, or disable physics before authored motion.\",\n    );\n  }\n  validatePose(presentedPose, componentName);\n  const presentedWorld = matrixFromPose(presentedPose).multiply(\n    capture.poseResidual,\n  );\n  const result = copyMatrix(parentWorld)\n    .inverse()\n    .multiply(presentedWorld)\n    .multiply(copyMatrix(capture.initialBodyLocal).inverse());\n  return cleanMatrix(result);\n}\n\nexport function bodyLocalTransformFromPrimitive2D(\n  componentType: Function,\n  style: Readonly<Record<PropertyKey, unknown>>,\n): DOMMatrix {\n  let transform = new DOMMatrix().translate(\n    finiteStyleNumber(style.left, 0, \"left\"),\n    finiteStyleNumber(style.top, 0, \"top\"),\n  );\n  if (componentType !== Group) return transform;\n  const scaleX = finiteStyleNumber(style.scaleX, 1, \"scaleX\");\n  const scaleY = finiteStyleNumber(style.scaleY, 1, \"scaleY\");\n  if (scaleX !== 1 || scaleY !== 1) transform = transform.scale(scaleX, scaleY);\n  const rotation = finiteStyleNumber(\n    style.rotationDegrees,\n    0,\n    \"rotationDegrees\",\n  );\n  if (rotation !== 0) {\n    const origin = style.rotationOrigin ?? [0, 0];\n    if (\n      !Array.isArray(origin) ||\n      origin.length !== 2 ||\n      origin.some(\n        (value) => typeof value !== \"number\" || !Number.isFinite(value),\n      )\n    ) {\n      throw new TypeError(\n        \"Group rotationOrigin must be a finite two-dimensional point.\",\n      );\n    }\n    transform = transform\n      .translate(origin[0], origin[1])\n      .rotate(rotation)\n      .translate(-origin[0], -origin[1]);\n  }\n  const translateX = finiteStyleNumber(style.translateX, 0, \"translateX\");\n  const translateY = finiteStyleNumber(style.translateY, 0, \"translateY\");\n  if (translateX !== 0 || translateY !== 0)\n    transform = transform.translate(translateX, translateY);\n  const skewX = finiteStyleNumber(style.skewX, 0, \"skewX\");\n  const skewY = finiteStyleNumber(style.skewY, 0, \"skewY\");\n  if (skewX !== 0) transform = transform.skewX(skewX);\n  if (skewY !== 0) transform = transform.skewY(skewY);\n  return transform;\n}\n\nfunction validatePose(pose: PibblPhysicsPose2D, componentName: string): void {\n  if (\n    !Number.isFinite(pose.position[0]) ||\n    !Number.isFinite(pose.position[1]) ||\n    !Number.isFinite(pose.rotationDegrees)\n  ) {\n    throw new TypeError(\n      `${componentName} physics presentation pose must be finite.`,\n    );\n  }\n}\n\nfunction validateRigidAncestor(\n  matrix: DOMMatrixReadOnly,\n  componentName: string,\n): void {\n  validateFiniteInvertible(\n    matrix,\n    `${componentName} dynamic ancestor transform`,\n  );\n  validateUnskewed(matrix, `${componentName} dynamic ancestor transform`);\n  const scaleX = Math.hypot(matrix.a, matrix.b);\n  const scaleY = Math.hypot(matrix.c, matrix.d);\n  if (!close(scaleX, 1) || !close(scaleY, 1)) {\n    throw new Error(\n      `${componentName} has a non-rigid dynamic ancestor scale. Bake scale into collider geometry or move the body outside that ancestor.`,\n    );\n  }\n}\n\nfunction validateFiniteInvertible(\n  matrix: DOMMatrixReadOnly,\n  label: string,\n): void {\n  const values = [matrix.a, matrix.b, matrix.c, matrix.d, matrix.e, matrix.f];\n  if (values.some((value) => !Number.isFinite(value))) {\n    throw new TypeError(`${label} must contain only finite values.`);\n  }\n  if (Math.abs(matrix.a * matrix.d - matrix.b * matrix.c) <= 1e-10) {\n    throw new Error(`${label} is noninvertible.`);\n  }\n}\n\nfunction validateUnskewed(matrix: DOMMatrixReadOnly, label: string): void {\n  const scaleX = Math.hypot(matrix.a, matrix.b);\n  const scaleY = Math.hypot(matrix.c, matrix.d);\n  const dot = (matrix.a * matrix.c + matrix.b * matrix.d) / (scaleX * scaleY);\n  if (Math.abs(dot) > 1e-8)\n    throw new Error(`${label} is skewed and cannot define a rigid body pose.`);\n}\n\nfunction sameMatrix(\n  left: DOMMatrixReadOnly,\n  right: DOMMatrixReadOnly,\n): boolean {\n  return (\n    close(left.a, right.a) &&\n    close(left.b, right.b) &&\n    close(left.c, right.c) &&\n    close(left.d, right.d) &&\n    close(left.e, right.e) &&\n    close(left.f, right.f)\n  );\n}\n\nfunction close(left: number, right: number): boolean {\n  return Math.abs(left - right) <= MATRIX_EPSILON;\n}\n\nfunction clean(value: number): number {\n  return Math.abs(value) <= MATRIX_EPSILON ? 0 : value;\n}\n\nfunction cleanMatrix(source: DOMMatrixReadOnly): DOMMatrix {\n  return new DOMMatrix([\n    clean(source.a),\n    clean(source.b),\n    clean(source.c),\n    clean(source.d),\n    clean(source.e),\n    clean(source.f),\n  ]);\n}\n\nfunction copyMatrix(source: DOMMatrixReadOnly): DOMMatrix {\n  return new DOMMatrix([\n    source.a,\n    source.b,\n    source.c,\n    source.d,\n    source.e,\n    source.f,\n  ]);\n}\n\nexport function matrixFromPose(pose: PibblPhysicsPose2D): DOMMatrix {\n  return new DOMMatrix()\n    .translate(pose.position[0], pose.position[1])\n    .rotate(pose.rotationDegrees);\n}\n\nfunction finiteStyleNumber(\n  value: unknown,\n  fallback: number,\n  property: string,\n): number {\n  const resolved = value ?? fallback;\n  if (typeof resolved !== \"number\" || !Number.isFinite(resolved)) {\n    throw new TypeError(`Resolved Group ${property} must be finite.`);\n  }\n  return resolved;\n}\n"],
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+  "sourcesContent": ["import type { PibblPhysicsPose2D } from \"../../../2d-geometry.js\";\nimport { Group } from \"@pibbl/core\";\n\nconst MATRIX_EPSILON = 1e-6;\n\nexport interface CanvasBodyPresentationCapture2D {\n  readonly initialPose: PibblPhysicsPose2D;\n  readonly parentWorld: DOMMatrix;\n  readonly initialBodyLocal: DOMMatrix;\n  readonly poseResidual: DOMMatrix;\n}\n\nexport function captureBodyPresentation2D(\n  parentWorld: DOMMatrixReadOnly,\n  initialBodyLocal: DOMMatrixReadOnly,\n  componentName: string,\n  requireRigidAncestor = true,\n): CanvasBodyPresentationCapture2D {\n  if (requireRigidAncestor) validateRigidAncestor(parentWorld, componentName);\n  else\n    validateFiniteInvertible(\n      parentWorld,\n      `${componentName} ancestor transform`,\n    );\n  validateFiniteInvertible(\n    initialBodyLocal,\n    `${componentName} authored transform`,\n  );\n  if (requireRigidAncestor) {\n    validateUnskewed(initialBodyLocal, `${componentName} authored transform`);\n  }\n  const world = copyMatrix(parentWorld).multiply(initialBodyLocal);\n  const scaleX = Math.hypot(world.a, world.b);\n  const initialPose = Object.freeze({\n    position: Object.freeze([clean(world.e), clean(world.f)] as const),\n    rotationDegrees: clean(\n      (Math.atan2(world.b / scaleX, world.a / scaleX) * 180) / Math.PI,\n    ),\n  });\n  const poseMatrix = matrixFromPose(initialPose);\n  return Object.freeze({\n    initialPose,\n    parentWorld: copyMatrix(parentWorld),\n    initialBodyLocal: copyMatrix(initialBodyLocal),\n    poseResidual: poseMatrix.inverse().multiply(world),\n  });\n}\n\nexport function resolveDynamicPresentationTransform2D(\n  capture: CanvasBodyPresentationCapture2D,\n  presentedPose: PibblPhysicsPose2D,\n  parentWorld: DOMMatrixReadOnly,\n  currentBodyLocal: DOMMatrixReadOnly,\n  componentName: string,\n): DOMMatrix {\n  validateRigidAncestor(parentWorld, componentName);\n  if (!sameMatrix(parentWorld, capture.parentWorld)) {\n    throw new Error(\n      `${componentName} ancestor transform changed while an enabled dynamic body owns pose. ` +\n        \"Use teleportBody2D(), a kinematic body, or disable physics before authored motion.\",\n    );\n  }\n  if (!sameMatrix(currentBodyLocal, capture.initialBodyLocal)) {\n    throw new Error(\n      `${componentName} authored pose changed while an enabled dynamic body owns pose. ` +\n        \"Use teleportBody2D(), a kinematic body, or disable physics before authored motion.\",\n    );\n  }\n  validatePose(presentedPose, componentName);\n  const presentedWorld = matrixFromPose(presentedPose).multiply(\n    capture.poseResidual,\n  );\n  const result = copyMatrix(parentWorld)\n    .inverse()\n    .multiply(presentedWorld)\n    .multiply(copyMatrix(capture.initialBodyLocal).inverse());\n  return cleanMatrix(result);\n}\n\nexport function bodyLocalTransformFromPrimitive2D(\n  componentType: Function,\n  style: Readonly<Record<PropertyKey, unknown>>,\n): DOMMatrix {\n  let transform = new DOMMatrix().translate(\n    finiteStyleNumber(style.left, 0, \"left\"),\n    finiteStyleNumber(style.top, 0, \"top\"),\n  );\n  if (componentType !== Group) return transform;\n  const scaleX = finiteStyleNumber(style.scaleX, 1, \"scaleX\");\n  const scaleY = finiteStyleNumber(style.scaleY, 1, \"scaleY\");\n  if (scaleX !== 1 || scaleY !== 1) transform = transform.scale(scaleX, scaleY);\n  const rotation = finiteStyleNumber(\n    style.rotationDegrees,\n    0,\n    \"rotationDegrees\",\n  );\n  if (rotation !== 0) {\n    const origin = style.rotationOrigin ?? [0, 0];\n    if (\n      !Array.isArray(origin) ||\n      origin.length !== 2 ||\n      origin.some(\n        (value) => typeof value !== \"number\" || !Number.isFinite(value),\n      )\n    ) {\n      throw new TypeError(\n        \"Group rotationOrigin must be a finite two-dimensional point.\",\n      );\n    }\n    transform = transform\n      .translate(origin[0], origin[1])\n      .rotate(rotation)\n      .translate(-origin[0], -origin[1]);\n  }\n  const translateX = finiteStyleNumber(style.translateX, 0, \"translateX\");\n  const translateY = finiteStyleNumber(style.translateY, 0, \"translateY\");\n  if (translateX !== 0 || translateY !== 0)\n    transform = transform.translate(translateX, translateY);\n  const skewX = finiteStyleNumber(style.skewX, 0, \"skewX\");\n  const skewY = finiteStyleNumber(style.skewY, 0, \"skewY\");\n  if (skewX !== 0) transform = transform.skewX(skewX);\n  if (skewY !== 0) transform = transform.skewY(skewY);\n  return transform;\n}\n\nfunction validatePose(pose: PibblPhysicsPose2D, componentName: string): void {\n  if (\n    !Number.isFinite(pose.position[0]) ||\n    !Number.isFinite(pose.position[1]) ||\n    !Number.isFinite(pose.rotationDegrees)\n  ) {\n    throw new TypeError(\n      `${componentName} physics presentation pose must be finite.`,\n    );\n  }\n}\n\nfunction validateRigidAncestor(\n  matrix: DOMMatrixReadOnly,\n  componentName: string,\n): void {\n  validateFiniteInvertible(\n    matrix,\n    `${componentName} dynamic ancestor transform`,\n  );\n  validateUnskewed(matrix, `${componentName} dynamic ancestor transform`);\n  const scaleX = Math.hypot(matrix.a, matrix.b);\n  const scaleY = Math.hypot(matrix.c, matrix.d);\n  if (!close(scaleX, 1) || !close(scaleY, 1)) {\n    throw new Error(\n      `${componentName} has a non-rigid dynamic ancestor scale. Bake scale into collider geometry or move the body outside that ancestor.`,\n    );\n  }\n}\n\nfunction validateFiniteInvertible(\n  matrix: DOMMatrixReadOnly,\n  label: string,\n): void {\n  if (\n    !Number.isFinite(matrix.a) || !Number.isFinite(matrix.b) ||\n    !Number.isFinite(matrix.c) || !Number.isFinite(matrix.d) ||\n    !Number.isFinite(matrix.e) || !Number.isFinite(matrix.f)\n  ) {\n    throw new TypeError(`${label} must contain only finite values.`);\n  }\n  if (Math.abs(matrix.a * matrix.d - matrix.b * matrix.c) <= 1e-10) {\n    throw new Error(`${label} is noninvertible.`);\n  }\n}\n\nfunction validateUnskewed(matrix: DOMMatrixReadOnly, label: string): void {\n  const scaleX = Math.hypot(matrix.a, matrix.b);\n  const scaleY = Math.hypot(matrix.c, matrix.d);\n  const dot = (matrix.a * matrix.c + matrix.b * matrix.d) / (scaleX * scaleY);\n  if (Math.abs(dot) > 1e-8)\n    throw new Error(`${label} is skewed and cannot define a rigid body pose.`);\n}\n\nfunction sameMatrix(\n  left: DOMMatrixReadOnly,\n  right: DOMMatrixReadOnly,\n): boolean {\n  return (\n    close(left.a, right.a) &&\n    close(left.b, right.b) &&\n    close(left.c, right.c) &&\n    close(left.d, right.d) &&\n    close(left.e, right.e) &&\n    close(left.f, right.f)\n  );\n}\n\nfunction close(left: number, right: number): boolean {\n  return Math.abs(left - right) <= MATRIX_EPSILON;\n}\n\nfunction clean(value: number): number {\n  return Math.abs(value) <= MATRIX_EPSILON ? 0 : value;\n}\n\nfunction cleanMatrix(source: DOMMatrixReadOnly): DOMMatrix {\n  return new DOMMatrix([\n    clean(source.a),\n    clean(source.b),\n    clean(source.c),\n    clean(source.d),\n    clean(source.e),\n    clean(source.f),\n  ]);\n}\n\nfunction copyMatrix(source: DOMMatrixReadOnly): DOMMatrix {\n  return new DOMMatrix([\n    source.a,\n    source.b,\n    source.c,\n    source.d,\n    source.e,\n    source.f,\n  ]);\n}\n\nexport function matrixFromPose(pose: PibblPhysicsPose2D): DOMMatrix {\n  return new DOMMatrix()\n    .translate(pose.position[0], pose.position[1])\n    .rotate(pose.rotationDegrees);\n}\n\nfunction finiteStyleNumber(\n  value: unknown,\n  fallback: number,\n  property: string,\n): number {\n  const resolved = value ?? fallback;\n  if (typeof resolved !== \"number\" || !Number.isFinite(resolved)) {\n    throw new TypeError(`Resolved Group ${property} must be finite.`);\n  }\n  return resolved;\n}\n"],
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package/dist/features/physics/lib/2d/collision/casts.js

@@ -234,7 +234,7 @@ function raycastCapsule(leaf, pose, originX, originY, directionX, directionY, ma
   const acrossDirection = directionX * sideNormalX + directionY * sideNormalY;
   const distances = [];
   if (Math.abs(acrossDirection) > GEOMETRY_EPSILON) {
-    for (const side of [-1, 1]) {
+    for (let side = -1; side <= 1; side += 2) {
       const distance = (side * leaf.radius - acrossOrigin) / acrossDirection;
       const along = alongOrigin + distance * alongDirection;
       if (distance >= -CAST_TIME_TOLERANCE && distance <= maxDistance + CAST_TIME_TOLERANCE && along >= -CAST_HIT_TOLERANCE && along <= segmentLength + CAST_HIT_TOLERANCE) {
@@ -242,7 +242,9 @@ function raycastCapsule(leaf, pose, originX, originY, directionX, directionY, ma
       }
     }
   }
-  for (const [centerX, centerY] of [[startX, startY], [endX, endY]]) {
+  for (let endpoint = 0; endpoint < 2; endpoint++) {
+    const centerX = endpoint === 0 ? startX : endX;
+    const centerY = endpoint === 0 ? startY : endY;
     const distance = rayCircleDistance(
       originX,
       originY,

package/dist/features/physics/lib/2d/collision/casts.js.map

@@ -1,7 +1,7 @@
 {
   "version": 3,
   "sources": ["../../../../../../src/features/physics/lib/2d/collision/casts.ts"],
-  "sourcesContent": ["import type {\n  PibblPhysicsDistance2D,\n  PibblPhysicsPose2D,\n  PibblPhysicsRay2D,\n  PibblPhysicsShape2D,\n  PibblPhysicsShapeHit2D,\n  PibblPhysicsVector2,\n} from '../../../2d-geometry.js';\nimport {\n  copyFiniteVector2,\n  requireNonnegativeNumber,\n} from '../../shared/validation.js';\nimport {\n  IDENTITY_POSE_2D,\n  composePose2D,\n  copyPose2D,\n  transformPointInto,\n  type InternalPose2D,\n} from '../math.js';\nimport { GEOMETRY_EPSILON } from '../numeric-policy.js';\nimport {\n  createShape2D,\n  requireShapeRecord2D,\n  type CircleLeaf2D,\n  type ConvexLeaf2D,\n  type ShapeRecord2D,\n} from '../shape-records.js';\nimport { distancePointToSegment2D } from './analytic.js';\nimport {\n  containsPointInShape2D,\n  distanceBetweenPreparedShapes2D,\n} from './pairs.js';\n\nconst CAST_MAX_ITERATIONS = 32;\nconst CAST_REFINEMENT_ITERATIONS = 64;\nconst CAST_HIT_TOLERANCE = 1e-7;\nconst CAST_TIME_TOLERANCE = 1e-12;\n\ninterface CastCandidate2D {\n  readonly leafKey: readonly [number, number];\n  readonly pointX: number;\n  readonly pointY: number;\n  readonly normalX: number;\n  readonly normalY: number;\n  readonly distance: number;\n  readonly timeOfImpact: number;\n}\n\ninterface PreparedCastShape2D {\n  readonly record: ShapeRecord2D;\n  readonly pose: InternalPose2D;\n}\n\n/**\n * Casts a ray against one posed shape and returns its first hit or null.\n *\n * @param shape - Shape to intersect. See {@link PibblPhysicsShape2D}.\n * @param publicPose - Target shape pose. See {@link PibblPhysicsPose2D}.\n * @param ray - Ray origin, direction, and travel limit. See {@link PibblPhysicsRay2D}.\n * @param options - Whether initial overlap counts as a hit.\n * @returns The first shape hit, or null when there is no hit. See {@link PibblPhysicsShapeHit2D}.\n *\n * @see {@link PibblPhysicsShape2D}\n * @see {@link PibblPhysicsPose2D}\n * @see {@link PibblPhysicsRay2D}\n * @see {@link PibblPhysicsShapeHit2D}\n */\nexport function raycastShape2D(\n  shape: PibblPhysicsShape2D,\n  publicPose: PibblPhysicsPose2D,\n  ray: PibblPhysicsRay2D,\n  options?: Readonly<{ includeInitialOverlap?: boolean }>,\n): PibblPhysicsShapeHit2D | null {\n  const prepared = prepareShape(shape, publicPose, 'pose');\n  const origin = copyFiniteVector2(ray.origin, 'ray.origin');\n  const sourceDirection = copyFiniteVector2(ray.direction, 'ray.direction');\n  const directionScale = Math.max(\n    Math.abs(sourceDirection[0]),\n    Math.abs(sourceDirection[1]),\n  );\n  if (directionScale === 0) {\n    throw new RangeError('ray.direction must be non-zero.');\n  }\n  const maxDistance = requireNonnegativeNumber(ray.maxDistance, 'ray.maxDistance');\n  const scaledDirectionX = sourceDirection[0] / directionScale;\n  const scaledDirectionY = sourceDirection[1] / directionScale;\n  const scaledDirectionLength = Math.hypot(scaledDirectionX, scaledDirectionY);\n  const directionX = scaledDirectionX / scaledDirectionLength;\n  const directionY = scaledDirectionY / scaledDirectionLength;\n  let selected: CastCandidate2D | null = null;\n\n  for (const leaf of prepared.record.leaves) {\n    const leafShape = shapeForLeaf(leaf);\n    const initiallyOverlapping = containsPointInShape2D(\n      leafShape,\n      internalPoseAsPublic(prepared.pose),\n      origin,\n    );\n    let candidate: CastCandidate2D | null;\n    if (initiallyOverlapping) {\n      candidate = options?.includeInitialOverlap === true\n        ? {\n            leafKey: [0, leaf.canonicalLeafIndex],\n            pointX: origin[0],\n            pointY: origin[1],\n            normalX: -directionX,\n            normalY: -directionY,\n            distance: 0,\n            timeOfImpact: 0,\n          }\n        : null;\n    } else if (maxDistance === 0) {\n      candidate = null;\n    } else {\n      candidate = raycastLeaf(\n        leaf,\n        leafShape,\n        prepared.pose,\n        origin[0],\n        origin[1],\n        directionX,\n        directionY,\n        maxDistance,\n      );\n    }\n    if (candidate !== null && isEarlierCandidate(candidate, selected)) {\n      selected = candidate;\n    }\n  }\n\n  return selected === null ? null : publicHit(selected);\n}\n\n/**\n * Sweeps a posed shape along a translation against another posed shape and returns a hit or null.\n *\n * @param moving - Shape to sweep. See {@link PibblPhysicsShape2D}.\n * @param publicFrom - Initial pose of the moving shape. See {@link PibblPhysicsPose2D}.\n * @param publicTranslation - Translation vector for the sweep. See {@link PibblPhysicsVector2}.\n * @param target - Stationary shape to test against. See {@link PibblPhysicsShape2D}.\n * @param publicTargetPose - Pose of the stationary shape. See {@link PibblPhysicsPose2D}.\n * @param options - Whether initial overlap counts as a hit.\n * @returns The first sweep hit, or null when there is no hit. See {@link PibblPhysicsShapeHit2D}.\n *\n * @see {@link PibblPhysicsShape2D}\n * @see {@link PibblPhysicsPose2D}\n * @see {@link PibblPhysicsVector2}\n * @see {@link PibblPhysicsShapeHit2D}\n */\nexport function shapeCastAgainstShape2D(\n  moving: PibblPhysicsShape2D,\n  publicFrom: PibblPhysicsPose2D,\n  publicTranslation: PibblPhysicsVector2,\n  target: PibblPhysicsShape2D,\n  publicTargetPose: PibblPhysicsPose2D,\n  options?: Readonly<{ includeInitialOverlap?: boolean }>,\n): PibblPhysicsShapeHit2D | null {\n  const preparedMoving = prepareShape(moving, publicFrom, 'from');\n  const translation = copyFiniteVector2(publicTranslation, 'translation');\n  const preparedTarget = prepareShape(target, publicTargetPose, 'targetPose');\n  const translationLength = Math.hypot(translation[0], translation[1]);\n  if (!Number.isFinite(translationLength)) {\n    throw new RangeError('translation magnitude must be finite.');\n  }\n  let selected: CastCandidate2D | null = null;\n\n  for (const movingLeaf of preparedMoving.record.leaves) {\n    const movingLeafShape = shapeForLeaf(movingLeaf);\n    for (const targetLeaf of preparedTarget.record.leaves) {\n      const targetLeafShape = shapeForLeaf(targetLeaf);\n      const leafKey = pairLeafKey(movingLeaf, targetLeaf);\n      const candidate = movingLeaf.kind === 'circle' && targetLeaf.kind === 'circle'\n        ? castCircleAgainstCircle(\n            movingLeaf,\n            preparedMoving.pose,\n            translation[0],\n            translation[1],\n            translationLength,\n            targetLeaf,\n            preparedTarget.pose,\n            leafKey,\n            options?.includeInitialOverlap === true,\n          )\n        : conservativelyCastLeafPair(\n            movingLeafShape,\n            preparedMoving.pose,\n            translation[0],\n            translation[1],\n            translationLength,\n            targetLeafShape,\n            preparedTarget.pose,\n            leafKey,\n            options?.includeInitialOverlap === true,\n          );\n      if (candidate !== null && isEarlierCandidate(candidate, selected)) {\n        selected = candidate;\n      }\n    }\n  }\n\n  return selected === null ? null : publicHit(selected);\n}\n\nfunction raycastLeaf(\n  leaf: ConvexLeaf2D,\n  leafShape: PibblPhysicsShape2D,\n  pose: InternalPose2D,\n  originX: number,\n  originY: number,\n  directionX: number,\n  directionY: number,\n  maxDistance: number,\n): CastCandidate2D | null {\n  switch (leaf.kind) {\n    case 'circle':\n      return raycastCircle(\n        leaf,\n        pose,\n        originX,\n        originY,\n        directionX,\n        directionY,\n        maxDistance,\n      );\n    case 'capsule':\n      return raycastCapsule(\n        leaf,\n        pose,\n        originX,\n        originY,\n        directionX,\n        directionY,\n        maxDistance,\n      );\n    case 'segment':\n      return raycastSegment(\n        leaf,\n        pose,\n        originX,\n        originY,\n        directionX,\n        directionY,\n        maxDistance,\n      );\n    default: {\n      const pointShape = shapeForPoint();\n      return conservativelyCastLeafPair(\n        pointShape,\n        { x: originX, y: originY, rotationRadians: 0 },\n        directionX * maxDistance,\n        directionY * maxDistance,\n        maxDistance,\n        leafShape,\n        pose,\n        [0, leaf.canonicalLeafIndex],\n        false,\n      );\n    }\n  }\n}\n\nfunction raycastCircle(\n  leaf: CircleLeaf2D,\n  pose: InternalPose2D,\n  originX: number,\n  originY: number,\n  directionX: number,\n  directionY: number,\n  maxDistance: number,\n): CastCandidate2D | null {\n  const center = new Float64Array(2);\n  transformPointInto(center, 0, leaf.center[0]!, leaf.center[1]!, pose);\n  const hit = rayCircleDistance(\n    originX,\n    originY,\n    directionX,\n    directionY,\n    center[0]!,\n    center[1]!,\n    leaf.radius,\n    maxDistance,\n  );\n  if (hit === null) return null;\n  const pointX = originX + directionX * hit;\n  const pointY = originY + directionY * hit;\n  const normal = unitAgainstMotion(\n    pointX - center[0]!,\n    pointY - center[1]!,\n    directionX,\n    directionY,\n  );\n  return {\n    leafKey: [0, leaf.canonicalLeafIndex],\n    pointX,\n    pointY,\n    normalX: normal[0],\n    normalY: normal[1],\n    distance: hit,\n    timeOfImpact: hit / maxDistance,\n  };\n}\n\nfunction raycastCapsule(\n  leaf: Extract<ConvexLeaf2D, { kind: 'capsule' }>,\n  pose: InternalPose2D,\n  originX: number,\n  originY: number,\n  directionX: number,\n  directionY: number,\n  maxDistance: number,\n): CastCandidate2D | null {\n  const endpoints = new Float64Array(4);\n  transformPointInto(endpoints, 0, leaf.start[0]!, leaf.start[1]!, pose);\n  transformPointInto(endpoints, 2, leaf.end[0]!, leaf.end[1]!, pose);\n  const startX = endpoints[0]!;\n  const startY = endpoints[1]!;\n  const endX = endpoints[2]!;\n  const endY = endpoints[3]!;\n  const segmentX = endX - startX;\n  const segmentY = endY - startY;\n  const segmentLength = Math.hypot(segmentX, segmentY);\n  if (segmentLength <= GEOMETRY_EPSILON) {\n    return raycastCircle(\n      { ...leaf, kind: 'circle', center: new Float64Array([leaf.start[0]!, leaf.start[1]!]) },\n      pose,\n      originX,\n      originY,\n      directionX,\n      directionY,\n      maxDistance,\n    );\n  }\n\n  const tangentX = segmentX / segmentLength;\n  const tangentY = segmentY / segmentLength;\n  const sideNormalX = -tangentY;\n  const sideNormalY = tangentX;\n  const relativeX = originX - startX;\n  const relativeY = originY - startY;\n  const alongOrigin = relativeX * tangentX + relativeY * tangentY;\n  const acrossOrigin = relativeX * sideNormalX + relativeY * sideNormalY;\n  const alongDirection = directionX * tangentX + directionY * tangentY;\n  const acrossDirection = directionX * sideNormalX + directionY * sideNormalY;\n  const distances: number[] = [];\n  if (Math.abs(acrossDirection) > GEOMETRY_EPSILON) {\n    for (const side of [-1, 1] as const) {\n      const distance = (side * leaf.radius - acrossOrigin) / acrossDirection;\n      const along = alongOrigin + distance * alongDirection;\n      if (\n        distance >= -CAST_TIME_TOLERANCE &&\n        distance <= maxDistance + CAST_TIME_TOLERANCE &&\n        along >= -CAST_HIT_TOLERANCE &&\n        along <= segmentLength + CAST_HIT_TOLERANCE\n      ) {\n        distances.push(Math.max(0, distance));\n      }\n    }\n  }\n  for (const [centerX, centerY] of [[startX, startY], [endX, endY]] as const) {\n    const distance = rayCircleDistance(\n      originX,\n      originY,\n      directionX,\n      directionY,\n      centerX,\n      centerY,\n      leaf.radius,\n      maxDistance,\n    );\n    if (distance !== null) distances.push(distance);\n  }\n  distances.sort((first, second) => first - second);\n  for (const distance of distances) {\n    const pointX = originX + directionX * distance;\n    const pointY = originY + directionY * distance;\n    const closest = distancePointToSegment2D(\n      pointX,\n      pointY,\n      startX,\n      startY,\n      endX,\n      endY,\n    );\n    if (Math.abs(closest.separation - leaf.radius) > CAST_HIT_TOLERANCE * 8) continue;\n    const normal = unitAgainstMotion(\n      pointX - closest.secondX,\n      pointY - closest.secondY,\n      directionX,\n      directionY,\n    );\n    if (normal[0] * directionX + normal[1] * directionY > CAST_HIT_TOLERANCE) continue;\n    return {\n      leafKey: [0, leaf.canonicalLeafIndex],\n      pointX,\n      pointY,\n      normalX: normal[0],\n      normalY: normal[1],\n      distance,\n      timeOfImpact: distance / maxDistance,\n    };\n  }\n  return null;\n}\n\nfunction raycastSegment(\n  leaf: Extract<ConvexLeaf2D, { kind: 'segment' }>,\n  pose: InternalPose2D,\n  originX: number,\n  originY: number,\n  directionX: number,\n  directionY: number,\n  maxDistance: number,\n): CastCandidate2D | null {\n  const endpoints = new Float64Array(4);\n  transformPointInto(endpoints, 0, leaf.start[0]!, leaf.start[1]!, pose);\n  transformPointInto(endpoints, 2, leaf.end[0]!, leaf.end[1]!, pose);\n  const startX = endpoints[0]!;\n  const startY = endpoints[1]!;\n  const segmentX = endpoints[2]! - startX;\n  const segmentY = endpoints[3]! - startY;\n  const relativeX = startX - originX;\n  const relativeY = startY - originY;\n  const denominator = cross(directionX, directionY, segmentX, segmentY);\n  let distance: number;\n  if (Math.abs(denominator) > GEOMETRY_EPSILON) {\n    distance = cross(relativeX, relativeY, segmentX, segmentY) / denominator;\n    const segmentTime = cross(relativeX, relativeY, directionX, directionY) / denominator;\n    if (\n      distance < -CAST_TIME_TOLERANCE ||\n      distance > maxDistance + CAST_TIME_TOLERANCE ||\n      segmentTime < -CAST_TIME_TOLERANCE ||\n      segmentTime > 1 + CAST_TIME_TOLERANCE\n    ) {\n      return null;\n    }\n  } else {\n    if (Math.abs(cross(relativeX, relativeY, directionX, directionY)) > GEOMETRY_EPSILON) {\n      return null;\n    }\n    const first = relativeX * directionX + relativeY * directionY;\n    const second = first + segmentX * directionX + segmentY * directionY;\n    distance = Math.min(first, second);\n    if (distance < -CAST_TIME_TOLERANCE) distance = Math.max(first, second);\n    if (distance < -CAST_TIME_TOLERANCE || distance > maxDistance + CAST_TIME_TOLERANCE) {\n      return null;\n    }\n  }\n  distance = Math.max(0, Math.min(maxDistance, distance));\n  const pointX = originX + directionX * distance;\n  const pointY = originY + directionY * distance;\n  const normal = segmentNormalAgainstMotion(segmentX, segmentY, directionX, directionY);\n  return {\n    leafKey: [0, leaf.canonicalLeafIndex],\n    pointX,\n    pointY,\n    normalX: normal[0],\n    normalY: normal[1],\n    distance,\n    timeOfImpact: distance / maxDistance,\n  };\n}\n\nfunction castCircleAgainstCircle(\n  moving: CircleLeaf2D,\n  movingPose: InternalPose2D,\n  translationX: number,\n  translationY: number,\n  translationLength: number,\n  target: CircleLeaf2D,\n  targetPose: InternalPose2D,\n  leafKey: readonly [number, number],\n  includeInitialOverlap: boolean,\n): CastCandidate2D | null {\n  const centers = new Float64Array(4);\n  transformPointInto(centers, 0, moving.center[0]!, moving.center[1]!, movingPose);\n  transformPointInto(centers, 2, target.center[0]!, target.center[1]!, targetPose);\n  const relativeX = centers[0]! - centers[2]!;\n  const relativeY = centers[1]! - centers[3]!;\n  const radius = moving.radius + target.radius;\n  if (relativeX * relativeX + relativeY * relativeY <= radius * radius) {\n    if (!includeInitialOverlap) return null;\n    const normal = unitAgainstMotion(relativeX, relativeY, translationX, translationY);\n    return {\n      leafKey,\n      pointX: centers[2]! + normal[0] * target.radius,\n      pointY: centers[3]! + normal[1] * target.radius,\n      normalX: normal[0],\n      normalY: normal[1],\n      distance: 0,\n      timeOfImpact: 0,\n    };\n  }\n  if (translationLength === 0) return null;\n  const a = translationX * translationX + translationY * translationY;\n  const b = 2 * (relativeX * translationX + relativeY * translationY);\n  const c = relativeX * relativeX + relativeY * relativeY - radius * radius;\n  const discriminant = b * b - 4 * a * c;\n  if (discriminant < -GEOMETRY_EPSILON) return null;\n  const time = (-b - Math.sqrt(Math.max(0, discriminant))) / (2 * a);\n  if (time < -CAST_TIME_TOLERANCE || time > 1 + CAST_TIME_TOLERANCE) return null;\n  const timeOfImpact = Math.max(0, Math.min(1, time));\n  const movingX = centers[0]! + translationX * timeOfImpact;\n  const movingY = centers[1]! + translationY * timeOfImpact;\n  const normal = unitAgainstMotion(\n    movingX - centers[2]!,\n    movingY - centers[3]!,\n    translationX,\n    translationY,\n  );\n  return {\n    leafKey,\n    pointX: centers[2]! + normal[0] * target.radius,\n    pointY: centers[3]! + normal[1] * target.radius,\n    normalX: normal[0],\n    normalY: normal[1],\n    distance: translationLength * timeOfImpact,\n    timeOfImpact,\n  };\n}\n\nfunction conservativelyCastLeafPair(\n  moving: PibblPhysicsShape2D,\n  from: InternalPose2D,\n  translationX: number,\n  translationY: number,\n  translationLength: number,\n  target: PibblPhysicsShape2D,\n  targetPose: InternalPose2D,\n  leafKey: readonly [number, number],\n  includeInitialOverlap: boolean,\n): CastCandidate2D | null {\n  let time = 0;\n  for (let iteration = 0; iteration < CAST_MAX_ITERATIONS; iteration += 1) {\n    const movingPose = {\n      x: from.x + translationX * time,\n      y: from.y + translationY * time,\n      rotationRadians: from.rotationRadians,\n    };\n    const distance = samplePairDistance(moving, movingPose, target, targetPose);\n    if (distance === null) return null;\n    if (distance.separation <= (time === 0 ? 0 : CAST_HIT_TOLERANCE)) {\n      if (time === 0 && !includeInitialOverlap) return null;\n      const normal = unitAgainstMotion(\n        distance.normal[0],\n        distance.normal[1],\n        translationX,\n        translationY,\n      );\n      return {\n        leafKey,\n        pointX: distance.pointOnSecond[0],\n        pointY: distance.pointOnSecond[1],\n        normalX: normal[0],\n        normalY: normal[1],\n        distance: translationLength * time,\n        timeOfImpact: time,\n      };\n    }\n    if (translationLength === 0) return null;\n    const closingSpeed = -(\n      distance.normal[0] * translationX +\n      distance.normal[1] * translationY\n    );\n    if (!Number.isFinite(closingSpeed) || closingSpeed <= 0) break;\n    const step = distance.separation / closingSpeed;\n    if (!Number.isFinite(step) || step <= CAST_TIME_TOLERANCE) break;\n    const nextTime = time + step;\n    if (!Number.isFinite(nextTime)) return null;\n    if (nextTime <= time) break;\n    if (nextTime > 1 + CAST_TIME_TOLERANCE) break;\n    time = Math.min(1, nextTime);\n  }\n  return refineBoundedTangent(\n    moving,\n    from,\n    translationX,\n    translationY,\n    translationLength,\n    target,\n    targetPose,\n    leafKey,\n  );\n}\n\nfunction refineBoundedTangent(\n  moving: PibblPhysicsShape2D,\n  from: InternalPose2D,\n  translationX: number,\n  translationY: number,\n  translationLength: number,\n  target: PibblPhysicsShape2D,\n  targetPose: InternalPose2D,\n  leafKey: readonly [number, number],\n): CastCandidate2D | null {\n  let minimumTime = 0;\n  let maximumTime = 1;\n  let tangentTime = 0;\n  let tangent = sampleTranslatedDistance(\n    moving,\n    from,\n    translationX,\n    translationY,\n    tangentTime,\n    target,\n    targetPose,\n  );\n  if (tangent === null) return null;\n  for (let iteration = 0; iteration < CAST_REFINEMENT_ITERATIONS; iteration += 1) {\n    const middleTime = (minimumTime + maximumTime) / 2;\n    const middle = sampleTranslatedDistance(\n      moving,\n      from,\n      translationX,\n      translationY,\n      middleTime,\n      target,\n      targetPose,\n    );\n    if (middle === null) return null;\n    if (middle.separation < tangent.separation) {\n      tangentTime = middleTime;\n      tangent = middle;\n    }\n    const derivative =\n      middle.normal[0] * translationX + middle.normal[1] * translationY;\n    if (!Number.isFinite(derivative)) return null;\n    if (derivative < 0) {\n      minimumTime = middleTime;\n    } else {\n      maximumTime = middleTime;\n    }\n  }\n  if (tangent.separation > CAST_HIT_TOLERANCE) return null;\n\n  let impactTime = tangentTime;\n  if (tangent.separation < 0) {\n    let separatedTime = 0;\n    for (let iteration = 0; iteration < CAST_REFINEMENT_ITERATIONS; iteration += 1) {\n      const middleTime = (separatedTime + impactTime) / 2;\n      const middle = sampleTranslatedDistance(\n        moving,\n        from,\n        translationX,\n        translationY,\n        middleTime,\n        target,\n        targetPose,\n      );\n      if (middle === null) return null;\n      if (middle.separation <= CAST_HIT_TOLERANCE) {\n        impactTime = middleTime;\n        tangent = middle;\n      } else {\n        separatedTime = middleTime;\n      }\n    }\n  }\n  const normal = unitAgainstMotion(\n    tangent.normal[0],\n    tangent.normal[1],\n    translationX,\n    translationY,\n  );\n  return {\n    leafKey,\n    pointX: tangent.pointOnSecond[0],\n    pointY: tangent.pointOnSecond[1],\n    normalX: normal[0],\n    normalY: normal[1],\n    distance: translationLength * impactTime,\n    timeOfImpact: impactTime,\n  };\n}\n\nfunction sampleTranslatedDistance(\n  moving: PibblPhysicsShape2D,\n  from: InternalPose2D,\n  translationX: number,\n  translationY: number,\n  time: number,\n  target: PibblPhysicsShape2D,\n  targetPose: InternalPose2D,\n): PibblPhysicsDistance2D | null {\n  return samplePairDistance(\n    moving,\n    {\n      x: from.x + translationX * time,\n      y: from.y + translationY * time,\n      rotationRadians: from.rotationRadians,\n    },\n    target,\n    targetPose,\n  );\n}\n\nfunction samplePairDistance(\n  moving: PibblPhysicsShape2D,\n  movingPose: InternalPose2D,\n  target: PibblPhysicsShape2D,\n  targetPose: InternalPose2D,\n): PibblPhysicsDistance2D | null {\n  try {\n    const distance = distanceBetweenPreparedShapes2D(\n      moving,\n      internalPoseAsPublic(movingPose),\n      target,\n      internalPoseAsPublic(targetPose),\n    );\n    return isFiniteDistance(distance) ? distance : null;\n  } catch {\n    return null;\n  }\n}\n\nfunction prepareShape(\n  shape: PibblPhysicsShape2D,\n  publicPose: PibblPhysicsPose2D,\n  posePath: string,\n): PreparedCastShape2D {\n  const record = requireShapeRecord2D(shape);\n  const pose = composePose2D(copyPose2D(publicPose, posePath), record.localPose);\n  return { record, pose };\n}\n\nfunction shapeForLeaf(leaf: ConvexLeaf2D): PibblPhysicsShape2D {\n  return createShape2D({\n    leaves: Object.freeze([leaf]),\n    localPose: IDENTITY_POSE_2D,\n    localBounds: new Float64Array(4),\n    area: 0,\n    centroidX: 0,\n    centroidY: 0,\n    unitInertia: 0,\n  });\n}\n\nfunction shapeForPoint(): PibblPhysicsShape2D {\n  return shapeForLeaf(Object.freeze({\n    kind: 'segment',\n    start: new Float64Array(2),\n    end: new Float64Array(2),\n    canonicalLeafIndex: 0,\n  }));\n}\n\nfunction rayCircleDistance(\n  originX: number,\n  originY: number,\n  directionX: number,\n  directionY: number,\n  centerX: number,\n  centerY: number,\n  radius: number,\n  maxDistance: number,\n): number | null {\n  const relativeX = originX - centerX;\n  const relativeY = originY - centerY;\n  const projection = relativeX * directionX + relativeY * directionY;\n  const discriminant = projection * projection -\n    (relativeX * relativeX + relativeY * relativeY - radius * radius);\n  if (discriminant < -GEOMETRY_EPSILON) return null;\n  const distance = -projection - Math.sqrt(Math.max(0, discriminant));\n  if (distance < -CAST_TIME_TOLERANCE || distance > maxDistance + CAST_TIME_TOLERANCE) {\n    return null;\n  }\n  return Math.max(0, Math.min(maxDistance, distance));\n}\n\nfunction unitAgainstMotion(\n  x: number,\n  y: number,\n  motionX: number,\n  motionY: number,\n): readonly [number, number] {\n  const length = Math.hypot(x, y);\n  if (length > GEOMETRY_EPSILON) {\n    const unitX = x / length;\n    const unitY = y / length;\n    return unitX * motionX + unitY * motionY > 0\n      ? [-unitX, -unitY]\n      : [unitX, unitY];\n  }\n  const motionLength = Math.hypot(motionX, motionY);\n  return motionLength > 0\n    ? [-motionX / motionLength, -motionY / motionLength]\n    : [1, 0];\n}\n\nfunction segmentNormalAgainstMotion(\n  segmentX: number,\n  segmentY: number,\n  motionX: number,\n  motionY: number,\n): readonly [number, number] {\n  const length = Math.hypot(segmentX, segmentY);\n  if (length <= GEOMETRY_EPSILON) {\n    return unitAgainstMotion(0, 0, motionX, motionY);\n  }\n  let normalX = -segmentY / length;\n  let normalY = segmentX / length;\n  if (normalX * motionX + normalY * motionY > 0) {\n    normalX = -normalX;\n    normalY = -normalY;\n  }\n  return [normalX, normalY];\n}\n\nfunction internalPoseAsPublic(pose: InternalPose2D): PibblPhysicsPose2D {\n  return {\n    position: [pose.x, pose.y],\n    rotationDegrees: pose.rotationRadians * 180 / Math.PI,\n  };\n}\n\nfunction pairLeafKey(\n  first: ConvexLeaf2D,\n  second: ConvexLeaf2D,\n): readonly [number, number] {\n  return [first.canonicalLeafIndex, second.canonicalLeafIndex];\n}\n\nfunction isEarlierCandidate(\n  candidate: CastCandidate2D,\n  selected: CastCandidate2D | null,\n): boolean {\n  if (selected === null) return true;\n  const timeDifference = candidate.timeOfImpact - selected.timeOfImpact;\n  return Math.abs(timeDifference) > CAST_TIME_TOLERANCE\n    ? timeDifference < 0\n    : candidate.leafKey[0] < selected.leafKey[0] ||\n        (candidate.leafKey[0] === selected.leafKey[0] &&\n          candidate.leafKey[1] < selected.leafKey[1]);\n}\n\nfunction isFiniteDistance(distance: Readonly<{\n  separation: number;\n  pointOnFirst: PibblPhysicsVector2;\n  pointOnSecond: PibblPhysicsVector2;\n  normal: PibblPhysicsVector2;\n}>): boolean {\n  return Number.isFinite(distance.separation) &&\n    Number.isFinite(distance.pointOnFirst[0]) &&\n    Number.isFinite(distance.pointOnFirst[1]) &&\n    Number.isFinite(distance.pointOnSecond[0]) &&\n    Number.isFinite(distance.pointOnSecond[1]) &&\n    Number.isFinite(distance.normal[0]) &&\n    Number.isFinite(distance.normal[1]);\n}\n\nfunction publicHit(candidate: CastCandidate2D): PibblPhysicsShapeHit2D {\n  return Object.freeze({\n    point: freezeVector(candidate.pointX, candidate.pointY),\n    normal: freezeVector(candidate.normalX, candidate.normalY),\n    distance: cleanZero(candidate.distance),\n    timeOfImpact: cleanZero(candidate.timeOfImpact),\n  });\n}\n\nfunction freezeVector(x: number, y: number): PibblPhysicsVector2 {\n  return Object.freeze([cleanZero(x), cleanZero(y)] as const);\n}\n\nfunction cleanZero(value: number): number {\n  return Object.is(value, -0) || Math.abs(value) <= Number.EPSILON ? 0 : value;\n}\n\nfunction cross(ax: number, ay: number, bx: number, by: number): number {\n  return ax * by - ay * bx;\n}\n"],
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+  "sourcesContent": ["import type {\n  PibblPhysicsDistance2D,\n  PibblPhysicsPose2D,\n  PibblPhysicsRay2D,\n  PibblPhysicsShape2D,\n  PibblPhysicsShapeHit2D,\n  PibblPhysicsVector2,\n} from '../../../2d-geometry.js';\nimport {\n  copyFiniteVector2,\n  requireNonnegativeNumber,\n} from '../../shared/validation.js';\nimport {\n  IDENTITY_POSE_2D,\n  composePose2D,\n  copyPose2D,\n  transformPointInto,\n  type InternalPose2D,\n} from '../math.js';\nimport { GEOMETRY_EPSILON } from '../numeric-policy.js';\nimport {\n  createShape2D,\n  requireShapeRecord2D,\n  type CircleLeaf2D,\n  type ConvexLeaf2D,\n  type ShapeRecord2D,\n} from '../shape-records.js';\nimport { distancePointToSegment2D } from './analytic.js';\nimport {\n  containsPointInShape2D,\n  distanceBetweenPreparedShapes2D,\n} from './pairs.js';\n\nconst CAST_MAX_ITERATIONS = 32;\nconst CAST_REFINEMENT_ITERATIONS = 64;\nconst CAST_HIT_TOLERANCE = 1e-7;\nconst CAST_TIME_TOLERANCE = 1e-12;\n\ninterface CastCandidate2D {\n  readonly leafKey: readonly [number, number];\n  readonly pointX: number;\n  readonly pointY: number;\n  readonly normalX: number;\n  readonly normalY: number;\n  readonly distance: number;\n  readonly timeOfImpact: number;\n}\n\ninterface PreparedCastShape2D {\n  readonly record: ShapeRecord2D;\n  readonly pose: InternalPose2D;\n}\n\n/**\n * Casts a ray against one posed shape and returns its first hit or null.\n *\n * @param shape - Shape to intersect. See {@link PibblPhysicsShape2D}.\n * @param publicPose - Target shape pose. See {@link PibblPhysicsPose2D}.\n * @param ray - Ray origin, direction, and travel limit. See {@link PibblPhysicsRay2D}.\n * @param options - Whether initial overlap counts as a hit.\n * @returns The first shape hit, or null when there is no hit. See {@link PibblPhysicsShapeHit2D}.\n *\n * @see {@link PibblPhysicsShape2D}\n * @see {@link PibblPhysicsPose2D}\n * @see {@link PibblPhysicsRay2D}\n * @see {@link PibblPhysicsShapeHit2D}\n */\nexport function raycastShape2D(\n  shape: PibblPhysicsShape2D,\n  publicPose: PibblPhysicsPose2D,\n  ray: PibblPhysicsRay2D,\n  options?: Readonly<{ includeInitialOverlap?: boolean }>,\n): PibblPhysicsShapeHit2D | null {\n  const prepared = prepareShape(shape, publicPose, 'pose');\n  const origin = copyFiniteVector2(ray.origin, 'ray.origin');\n  const sourceDirection = copyFiniteVector2(ray.direction, 'ray.direction');\n  const directionScale = Math.max(\n    Math.abs(sourceDirection[0]),\n    Math.abs(sourceDirection[1]),\n  );\n  if (directionScale === 0) {\n    throw new RangeError('ray.direction must be non-zero.');\n  }\n  const maxDistance = requireNonnegativeNumber(ray.maxDistance, 'ray.maxDistance');\n  const scaledDirectionX = sourceDirection[0] / directionScale;\n  const scaledDirectionY = sourceDirection[1] / directionScale;\n  const scaledDirectionLength = Math.hypot(scaledDirectionX, scaledDirectionY);\n  const directionX = scaledDirectionX / scaledDirectionLength;\n  const directionY = scaledDirectionY / scaledDirectionLength;\n  let selected: CastCandidate2D | null = null;\n\n  for (const leaf of prepared.record.leaves) {\n    const leafShape = shapeForLeaf(leaf);\n    const initiallyOverlapping = containsPointInShape2D(\n      leafShape,\n      internalPoseAsPublic(prepared.pose),\n      origin,\n    );\n    let candidate: CastCandidate2D | null;\n    if (initiallyOverlapping) {\n      candidate = options?.includeInitialOverlap === true\n        ? {\n            leafKey: [0, leaf.canonicalLeafIndex],\n            pointX: origin[0],\n            pointY: origin[1],\n            normalX: -directionX,\n            normalY: -directionY,\n            distance: 0,\n            timeOfImpact: 0,\n          }\n        : null;\n    } else if (maxDistance === 0) {\n      candidate = null;\n    } else {\n      candidate = raycastLeaf(\n        leaf,\n        leafShape,\n        prepared.pose,\n        origin[0],\n        origin[1],\n        directionX,\n        directionY,\n        maxDistance,\n      );\n    }\n    if (candidate !== null && isEarlierCandidate(candidate, selected)) {\n      selected = candidate;\n    }\n  }\n\n  return selected === null ? null : publicHit(selected);\n}\n\n/**\n * Sweeps a posed shape along a translation against another posed shape and returns a hit or null.\n *\n * @param moving - Shape to sweep. See {@link PibblPhysicsShape2D}.\n * @param publicFrom - Initial pose of the moving shape. See {@link PibblPhysicsPose2D}.\n * @param publicTranslation - Translation vector for the sweep. See {@link PibblPhysicsVector2}.\n * @param target - Stationary shape to test against. See {@link PibblPhysicsShape2D}.\n * @param publicTargetPose - Pose of the stationary shape. See {@link PibblPhysicsPose2D}.\n * @param options - Whether initial overlap counts as a hit.\n * @returns The first sweep hit, or null when there is no hit. See {@link PibblPhysicsShapeHit2D}.\n *\n * @see {@link PibblPhysicsShape2D}\n * @see {@link PibblPhysicsPose2D}\n * @see {@link PibblPhysicsVector2}\n * @see {@link PibblPhysicsShapeHit2D}\n */\nexport function shapeCastAgainstShape2D(\n  moving: PibblPhysicsShape2D,\n  publicFrom: PibblPhysicsPose2D,\n  publicTranslation: PibblPhysicsVector2,\n  target: PibblPhysicsShape2D,\n  publicTargetPose: PibblPhysicsPose2D,\n  options?: Readonly<{ includeInitialOverlap?: boolean }>,\n): PibblPhysicsShapeHit2D | null {\n  const preparedMoving = prepareShape(moving, publicFrom, 'from');\n  const translation = copyFiniteVector2(publicTranslation, 'translation');\n  const preparedTarget = prepareShape(target, publicTargetPose, 'targetPose');\n  const translationLength = Math.hypot(translation[0], translation[1]);\n  if (!Number.isFinite(translationLength)) {\n    throw new RangeError('translation magnitude must be finite.');\n  }\n  let selected: CastCandidate2D | null = null;\n\n  for (const movingLeaf of preparedMoving.record.leaves) {\n    const movingLeafShape = shapeForLeaf(movingLeaf);\n    for (const targetLeaf of preparedTarget.record.leaves) {\n      const targetLeafShape = shapeForLeaf(targetLeaf);\n      const leafKey = pairLeafKey(movingLeaf, targetLeaf);\n      const candidate = movingLeaf.kind === 'circle' && targetLeaf.kind === 'circle'\n        ? castCircleAgainstCircle(\n            movingLeaf,\n            preparedMoving.pose,\n            translation[0],\n            translation[1],\n            translationLength,\n            targetLeaf,\n            preparedTarget.pose,\n            leafKey,\n            options?.includeInitialOverlap === true,\n          )\n        : conservativelyCastLeafPair(\n            movingLeafShape,\n            preparedMoving.pose,\n            translation[0],\n            translation[1],\n            translationLength,\n            targetLeafShape,\n            preparedTarget.pose,\n            leafKey,\n            options?.includeInitialOverlap === true,\n          );\n      if (candidate !== null && isEarlierCandidate(candidate, selected)) {\n        selected = candidate;\n      }\n    }\n  }\n\n  return selected === null ? null : publicHit(selected);\n}\n\nfunction raycastLeaf(\n  leaf: ConvexLeaf2D,\n  leafShape: PibblPhysicsShape2D,\n  pose: InternalPose2D,\n  originX: number,\n  originY: number,\n  directionX: number,\n  directionY: number,\n  maxDistance: number,\n): CastCandidate2D | null {\n  switch (leaf.kind) {\n    case 'circle':\n      return raycastCircle(\n        leaf,\n        pose,\n        originX,\n        originY,\n        directionX,\n        directionY,\n        maxDistance,\n      );\n    case 'capsule':\n      return raycastCapsule(\n        leaf,\n        pose,\n        originX,\n        originY,\n        directionX,\n        directionY,\n        maxDistance,\n      );\n    case 'segment':\n      return raycastSegment(\n        leaf,\n        pose,\n        originX,\n        originY,\n        directionX,\n        directionY,\n        maxDistance,\n      );\n    default: {\n      const pointShape = shapeForPoint();\n      return conservativelyCastLeafPair(\n        pointShape,\n        { x: originX, y: originY, rotationRadians: 0 },\n        directionX * maxDistance,\n        directionY * maxDistance,\n        maxDistance,\n        leafShape,\n        pose,\n        [0, leaf.canonicalLeafIndex],\n        false,\n      );\n    }\n  }\n}\n\nfunction raycastCircle(\n  leaf: CircleLeaf2D,\n  pose: InternalPose2D,\n  originX: number,\n  originY: number,\n  directionX: number,\n  directionY: number,\n  maxDistance: number,\n): CastCandidate2D | null {\n  const center = new Float64Array(2);\n  transformPointInto(center, 0, leaf.center[0]!, leaf.center[1]!, pose);\n  const hit = rayCircleDistance(\n    originX,\n    originY,\n    directionX,\n    directionY,\n    center[0]!,\n    center[1]!,\n    leaf.radius,\n    maxDistance,\n  );\n  if (hit === null) return null;\n  const pointX = originX + directionX * hit;\n  const pointY = originY + directionY * hit;\n  const normal = unitAgainstMotion(\n    pointX - center[0]!,\n    pointY - center[1]!,\n    directionX,\n    directionY,\n  );\n  return {\n    leafKey: [0, leaf.canonicalLeafIndex],\n    pointX,\n    pointY,\n    normalX: normal[0],\n    normalY: normal[1],\n    distance: hit,\n    timeOfImpact: hit / maxDistance,\n  };\n}\n\nfunction raycastCapsule(\n  leaf: Extract<ConvexLeaf2D, { kind: 'capsule' }>,\n  pose: InternalPose2D,\n  originX: number,\n  originY: number,\n  directionX: number,\n  directionY: number,\n  maxDistance: number,\n): CastCandidate2D | null {\n  const endpoints = new Float64Array(4);\n  transformPointInto(endpoints, 0, leaf.start[0]!, leaf.start[1]!, pose);\n  transformPointInto(endpoints, 2, leaf.end[0]!, leaf.end[1]!, pose);\n  const startX = endpoints[0]!;\n  const startY = endpoints[1]!;\n  const endX = endpoints[2]!;\n  const endY = endpoints[3]!;\n  const segmentX = endX - startX;\n  const segmentY = endY - startY;\n  const segmentLength = Math.hypot(segmentX, segmentY);\n  if (segmentLength <= GEOMETRY_EPSILON) {\n    return raycastCircle(\n      { ...leaf, kind: 'circle', center: new Float64Array([leaf.start[0]!, leaf.start[1]!]) },\n      pose,\n      originX,\n      originY,\n      directionX,\n      directionY,\n      maxDistance,\n    );\n  }\n\n  const tangentX = segmentX / segmentLength;\n  const tangentY = segmentY / segmentLength;\n  const sideNormalX = -tangentY;\n  const sideNormalY = tangentX;\n  const relativeX = originX - startX;\n  const relativeY = originY - startY;\n  const alongOrigin = relativeX * tangentX + relativeY * tangentY;\n  const acrossOrigin = relativeX * sideNormalX + relativeY * sideNormalY;\n  const alongDirection = directionX * tangentX + directionY * tangentY;\n  const acrossDirection = directionX * sideNormalX + directionY * sideNormalY;\n  const distances: number[] = [];\n  if (Math.abs(acrossDirection) > GEOMETRY_EPSILON) {\n    for (let side = -1; side <= 1; side += 2) {\n      const distance = (side * leaf.radius - acrossOrigin) / acrossDirection;\n      const along = alongOrigin + distance * alongDirection;\n      if (\n        distance >= -CAST_TIME_TOLERANCE &&\n        distance <= maxDistance + CAST_TIME_TOLERANCE &&\n        along >= -CAST_HIT_TOLERANCE &&\n        along <= segmentLength + CAST_HIT_TOLERANCE\n      ) {\n        distances.push(Math.max(0, distance));\n      }\n    }\n  }\n  for (let endpoint = 0; endpoint < 2; endpoint++) {\n    const centerX = endpoint === 0 ? startX : endX;\n    const centerY = endpoint === 0 ? startY : endY;\n    const distance = rayCircleDistance(\n      originX,\n      originY,\n      directionX,\n      directionY,\n      centerX,\n      centerY,\n      leaf.radius,\n      maxDistance,\n    );\n    if (distance !== null) distances.push(distance);\n  }\n  distances.sort((first, second) => first - second);\n  for (const distance of distances) {\n    const pointX = originX + directionX * distance;\n    const pointY = originY + directionY * distance;\n    const closest = distancePointToSegment2D(\n      pointX,\n      pointY,\n      startX,\n      startY,\n      endX,\n      endY,\n    );\n    if (Math.abs(closest.separation - leaf.radius) > CAST_HIT_TOLERANCE * 8) continue;\n    const normal = unitAgainstMotion(\n      pointX - closest.secondX,\n      pointY - closest.secondY,\n      directionX,\n      directionY,\n    );\n    if (normal[0] * directionX + normal[1] * directionY > CAST_HIT_TOLERANCE) continue;\n    return {\n      leafKey: [0, leaf.canonicalLeafIndex],\n      pointX,\n      pointY,\n      normalX: normal[0],\n      normalY: normal[1],\n      distance,\n      timeOfImpact: distance / maxDistance,\n    };\n  }\n  return null;\n}\n\nfunction raycastSegment(\n  leaf: Extract<ConvexLeaf2D, { kind: 'segment' }>,\n  pose: InternalPose2D,\n  originX: number,\n  originY: number,\n  directionX: number,\n  directionY: number,\n  maxDistance: number,\n): CastCandidate2D | null {\n  const endpoints = new Float64Array(4);\n  transformPointInto(endpoints, 0, leaf.start[0]!, leaf.start[1]!, pose);\n  transformPointInto(endpoints, 2, leaf.end[0]!, leaf.end[1]!, pose);\n  const startX = endpoints[0]!;\n  const startY = endpoints[1]!;\n  const segmentX = endpoints[2]! - startX;\n  const segmentY = endpoints[3]! - startY;\n  const relativeX = startX - originX;\n  const relativeY = startY - originY;\n  const denominator = cross(directionX, directionY, segmentX, segmentY);\n  let distance: number;\n  if (Math.abs(denominator) > GEOMETRY_EPSILON) {\n    distance = cross(relativeX, relativeY, segmentX, segmentY) / denominator;\n    const segmentTime = cross(relativeX, relativeY, directionX, directionY) / denominator;\n    if (\n      distance < -CAST_TIME_TOLERANCE ||\n      distance > maxDistance + CAST_TIME_TOLERANCE ||\n      segmentTime < -CAST_TIME_TOLERANCE ||\n      segmentTime > 1 + CAST_TIME_TOLERANCE\n    ) {\n      return null;\n    }\n  } else {\n    if (Math.abs(cross(relativeX, relativeY, directionX, directionY)) > GEOMETRY_EPSILON) {\n      return null;\n    }\n    const first = relativeX * directionX + relativeY * directionY;\n    const second = first + segmentX * directionX + segmentY * directionY;\n    distance = Math.min(first, second);\n    if (distance < -CAST_TIME_TOLERANCE) distance = Math.max(first, second);\n    if (distance < -CAST_TIME_TOLERANCE || distance > maxDistance + CAST_TIME_TOLERANCE) {\n      return null;\n    }\n  }\n  distance = Math.max(0, Math.min(maxDistance, distance));\n  const pointX = originX + directionX * distance;\n  const pointY = originY + directionY * distance;\n  const normal = segmentNormalAgainstMotion(segmentX, segmentY, directionX, directionY);\n  return {\n    leafKey: [0, leaf.canonicalLeafIndex],\n    pointX,\n    pointY,\n    normalX: normal[0],\n    normalY: normal[1],\n    distance,\n    timeOfImpact: distance / maxDistance,\n  };\n}\n\nfunction castCircleAgainstCircle(\n  moving: CircleLeaf2D,\n  movingPose: InternalPose2D,\n  translationX: number,\n  translationY: number,\n  translationLength: number,\n  target: CircleLeaf2D,\n  targetPose: InternalPose2D,\n  leafKey: readonly [number, number],\n  includeInitialOverlap: boolean,\n): CastCandidate2D | null {\n  const centers = new Float64Array(4);\n  transformPointInto(centers, 0, moving.center[0]!, moving.center[1]!, movingPose);\n  transformPointInto(centers, 2, target.center[0]!, target.center[1]!, targetPose);\n  const relativeX = centers[0]! - centers[2]!;\n  const relativeY = centers[1]! - centers[3]!;\n  const radius = moving.radius + target.radius;\n  if (relativeX * relativeX + relativeY * relativeY <= radius * radius) {\n    if (!includeInitialOverlap) return null;\n    const normal = unitAgainstMotion(relativeX, relativeY, translationX, translationY);\n    return {\n      leafKey,\n      pointX: centers[2]! + normal[0] * target.radius,\n      pointY: centers[3]! + normal[1] * target.radius,\n      normalX: normal[0],\n      normalY: normal[1],\n      distance: 0,\n      timeOfImpact: 0,\n    };\n  }\n  if (translationLength === 0) return null;\n  const a = translationX * translationX + translationY * translationY;\n  const b = 2 * (relativeX * translationX + relativeY * translationY);\n  const c = relativeX * relativeX + relativeY * relativeY - radius * radius;\n  const discriminant = b * b - 4 * a * c;\n  if (discriminant < -GEOMETRY_EPSILON) return null;\n  const time = (-b - Math.sqrt(Math.max(0, discriminant))) / (2 * a);\n  if (time < -CAST_TIME_TOLERANCE || time > 1 + CAST_TIME_TOLERANCE) return null;\n  const timeOfImpact = Math.max(0, Math.min(1, time));\n  const movingX = centers[0]! + translationX * timeOfImpact;\n  const movingY = centers[1]! + translationY * timeOfImpact;\n  const normal = unitAgainstMotion(\n    movingX - centers[2]!,\n    movingY - centers[3]!,\n    translationX,\n    translationY,\n  );\n  return {\n    leafKey,\n    pointX: centers[2]! + normal[0] * target.radius,\n    pointY: centers[3]! + normal[1] * target.radius,\n    normalX: normal[0],\n    normalY: normal[1],\n    distance: translationLength * timeOfImpact,\n    timeOfImpact,\n  };\n}\n\nfunction conservativelyCastLeafPair(\n  moving: PibblPhysicsShape2D,\n  from: InternalPose2D,\n  translationX: number,\n  translationY: number,\n  translationLength: number,\n  target: PibblPhysicsShape2D,\n  targetPose: InternalPose2D,\n  leafKey: readonly [number, number],\n  includeInitialOverlap: boolean,\n): CastCandidate2D | null {\n  let time = 0;\n  for (let iteration = 0; iteration < CAST_MAX_ITERATIONS; iteration += 1) {\n    const movingPose = {\n      x: from.x + translationX * time,\n      y: from.y + translationY * time,\n      rotationRadians: from.rotationRadians,\n    };\n    const distance = samplePairDistance(moving, movingPose, target, targetPose);\n    if (distance === null) return null;\n    if (distance.separation <= (time === 0 ? 0 : CAST_HIT_TOLERANCE)) {\n      if (time === 0 && !includeInitialOverlap) return null;\n      const normal = unitAgainstMotion(\n        distance.normal[0],\n        distance.normal[1],\n        translationX,\n        translationY,\n      );\n      return {\n        leafKey,\n        pointX: distance.pointOnSecond[0],\n        pointY: distance.pointOnSecond[1],\n        normalX: normal[0],\n        normalY: normal[1],\n        distance: translationLength * time,\n        timeOfImpact: time,\n      };\n    }\n    if (translationLength === 0) return null;\n    const closingSpeed = -(\n      distance.normal[0] * translationX +\n      distance.normal[1] * translationY\n    );\n    if (!Number.isFinite(closingSpeed) || closingSpeed <= 0) break;\n    const step = distance.separation / closingSpeed;\n    if (!Number.isFinite(step) || step <= CAST_TIME_TOLERANCE) break;\n    const nextTime = time + step;\n    if (!Number.isFinite(nextTime)) return null;\n    if (nextTime <= time) break;\n    if (nextTime > 1 + CAST_TIME_TOLERANCE) break;\n    time = Math.min(1, nextTime);\n  }\n  return refineBoundedTangent(\n    moving,\n    from,\n    translationX,\n    translationY,\n    translationLength,\n    target,\n    targetPose,\n    leafKey,\n  );\n}\n\nfunction refineBoundedTangent(\n  moving: PibblPhysicsShape2D,\n  from: InternalPose2D,\n  translationX: number,\n  translationY: number,\n  translationLength: number,\n  target: PibblPhysicsShape2D,\n  targetPose: InternalPose2D,\n  leafKey: readonly [number, number],\n): CastCandidate2D | null {\n  let minimumTime = 0;\n  let maximumTime = 1;\n  let tangentTime = 0;\n  let tangent = sampleTranslatedDistance(\n    moving,\n    from,\n    translationX,\n    translationY,\n    tangentTime,\n    target,\n    targetPose,\n  );\n  if (tangent === null) return null;\n  for (let iteration = 0; iteration < CAST_REFINEMENT_ITERATIONS; iteration += 1) {\n    const middleTime = (minimumTime + maximumTime) / 2;\n    const middle = sampleTranslatedDistance(\n      moving,\n      from,\n      translationX,\n      translationY,\n      middleTime,\n      target,\n      targetPose,\n    );\n    if (middle === null) return null;\n    if (middle.separation < tangent.separation) {\n      tangentTime = middleTime;\n      tangent = middle;\n    }\n    const derivative =\n      middle.normal[0] * translationX + middle.normal[1] * translationY;\n    if (!Number.isFinite(derivative)) return null;\n    if (derivative < 0) {\n      minimumTime = middleTime;\n    } else {\n      maximumTime = middleTime;\n    }\n  }\n  if (tangent.separation > CAST_HIT_TOLERANCE) return null;\n\n  let impactTime = tangentTime;\n  if (tangent.separation < 0) {\n    let separatedTime = 0;\n    for (let iteration = 0; iteration < CAST_REFINEMENT_ITERATIONS; iteration += 1) {\n      const middleTime = (separatedTime + impactTime) / 2;\n      const middle = sampleTranslatedDistance(\n        moving,\n        from,\n        translationX,\n        translationY,\n        middleTime,\n        target,\n        targetPose,\n      );\n      if (middle === null) return null;\n      if (middle.separation <= CAST_HIT_TOLERANCE) {\n        impactTime = middleTime;\n        tangent = middle;\n      } else {\n        separatedTime = middleTime;\n      }\n    }\n  }\n  const normal = unitAgainstMotion(\n    tangent.normal[0],\n    tangent.normal[1],\n    translationX,\n    translationY,\n  );\n  return {\n    leafKey,\n    pointX: tangent.pointOnSecond[0],\n    pointY: tangent.pointOnSecond[1],\n    normalX: normal[0],\n    normalY: normal[1],\n    distance: translationLength * impactTime,\n    timeOfImpact: impactTime,\n  };\n}\n\nfunction sampleTranslatedDistance(\n  moving: PibblPhysicsShape2D,\n  from: InternalPose2D,\n  translationX: number,\n  translationY: number,\n  time: number,\n  target: PibblPhysicsShape2D,\n  targetPose: InternalPose2D,\n): PibblPhysicsDistance2D | null {\n  return samplePairDistance(\n    moving,\n    {\n      x: from.x + translationX * time,\n      y: from.y + translationY * time,\n      rotationRadians: from.rotationRadians,\n    },\n    target,\n    targetPose,\n  );\n}\n\nfunction samplePairDistance(\n  moving: PibblPhysicsShape2D,\n  movingPose: InternalPose2D,\n  target: PibblPhysicsShape2D,\n  targetPose: InternalPose2D,\n): PibblPhysicsDistance2D | null {\n  try {\n    const distance = distanceBetweenPreparedShapes2D(\n      moving,\n      internalPoseAsPublic(movingPose),\n      target,\n      internalPoseAsPublic(targetPose),\n    );\n    return isFiniteDistance(distance) ? distance : null;\n  } catch {\n    return null;\n  }\n}\n\nfunction prepareShape(\n  shape: PibblPhysicsShape2D,\n  publicPose: PibblPhysicsPose2D,\n  posePath: string,\n): PreparedCastShape2D {\n  const record = requireShapeRecord2D(shape);\n  const pose = composePose2D(copyPose2D(publicPose, posePath), record.localPose);\n  return { record, pose };\n}\n\nfunction shapeForLeaf(leaf: ConvexLeaf2D): PibblPhysicsShape2D {\n  return createShape2D({\n    leaves: Object.freeze([leaf]),\n    localPose: IDENTITY_POSE_2D,\n    localBounds: new Float64Array(4),\n    area: 0,\n    centroidX: 0,\n    centroidY: 0,\n    unitInertia: 0,\n  });\n}\n\nfunction shapeForPoint(): PibblPhysicsShape2D {\n  return shapeForLeaf(Object.freeze({\n    kind: 'segment',\n    start: new Float64Array(2),\n    end: new Float64Array(2),\n    canonicalLeafIndex: 0,\n  }));\n}\n\nfunction rayCircleDistance(\n  originX: number,\n  originY: number,\n  directionX: number,\n  directionY: number,\n  centerX: number,\n  centerY: number,\n  radius: number,\n  maxDistance: number,\n): number | null {\n  const relativeX = originX - centerX;\n  const relativeY = originY - centerY;\n  const projection = relativeX * directionX + relativeY * directionY;\n  const discriminant = projection * projection -\n    (relativeX * relativeX + relativeY * relativeY - radius * radius);\n  if (discriminant < -GEOMETRY_EPSILON) return null;\n  const distance = -projection - Math.sqrt(Math.max(0, discriminant));\n  if (distance < -CAST_TIME_TOLERANCE || distance > maxDistance + CAST_TIME_TOLERANCE) {\n    return null;\n  }\n  return Math.max(0, Math.min(maxDistance, distance));\n}\n\nfunction unitAgainstMotion(\n  x: number,\n  y: number,\n  motionX: number,\n  motionY: number,\n): readonly [number, number] {\n  const length = Math.hypot(x, y);\n  if (length > GEOMETRY_EPSILON) {\n    const unitX = x / length;\n    const unitY = y / length;\n    return unitX * motionX + unitY * motionY > 0\n      ? [-unitX, -unitY]\n      : [unitX, unitY];\n  }\n  const motionLength = Math.hypot(motionX, motionY);\n  return motionLength > 0\n    ? [-motionX / motionLength, -motionY / motionLength]\n    : [1, 0];\n}\n\nfunction segmentNormalAgainstMotion(\n  segmentX: number,\n  segmentY: number,\n  motionX: number,\n  motionY: number,\n): readonly [number, number] {\n  const length = Math.hypot(segmentX, segmentY);\n  if (length <= GEOMETRY_EPSILON) {\n    return unitAgainstMotion(0, 0, motionX, motionY);\n  }\n  let normalX = -segmentY / length;\n  let normalY = segmentX / length;\n  if (normalX * motionX + normalY * motionY > 0) {\n    normalX = -normalX;\n    normalY = -normalY;\n  }\n  return [normalX, normalY];\n}\n\nfunction internalPoseAsPublic(pose: InternalPose2D): PibblPhysicsPose2D {\n  return {\n    position: [pose.x, pose.y],\n    rotationDegrees: pose.rotationRadians * 180 / Math.PI,\n  };\n}\n\nfunction pairLeafKey(\n  first: ConvexLeaf2D,\n  second: ConvexLeaf2D,\n): readonly [number, number] {\n  return [first.canonicalLeafIndex, second.canonicalLeafIndex];\n}\n\nfunction isEarlierCandidate(\n  candidate: CastCandidate2D,\n  selected: CastCandidate2D | null,\n): boolean {\n  if (selected === null) return true;\n  const timeDifference = candidate.timeOfImpact - selected.timeOfImpact;\n  return Math.abs(timeDifference) > CAST_TIME_TOLERANCE\n    ? timeDifference < 0\n    : candidate.leafKey[0] < selected.leafKey[0] ||\n        (candidate.leafKey[0] === selected.leafKey[0] &&\n          candidate.leafKey[1] < selected.leafKey[1]);\n}\n\nfunction isFiniteDistance(distance: Readonly<{\n  separation: number;\n  pointOnFirst: PibblPhysicsVector2;\n  pointOnSecond: PibblPhysicsVector2;\n  normal: PibblPhysicsVector2;\n}>): boolean {\n  return Number.isFinite(distance.separation) &&\n    Number.isFinite(distance.pointOnFirst[0]) &&\n    Number.isFinite(distance.pointOnFirst[1]) &&\n    Number.isFinite(distance.pointOnSecond[0]) &&\n    Number.isFinite(distance.pointOnSecond[1]) &&\n    Number.isFinite(distance.normal[0]) &&\n    Number.isFinite(distance.normal[1]);\n}\n\nfunction publicHit(candidate: CastCandidate2D): PibblPhysicsShapeHit2D {\n  return Object.freeze({\n    point: freezeVector(candidate.pointX, candidate.pointY),\n    normal: freezeVector(candidate.normalX, candidate.normalY),\n    distance: cleanZero(candidate.distance),\n    timeOfImpact: cleanZero(candidate.timeOfImpact),\n  });\n}\n\nfunction freezeVector(x: number, y: number): PibblPhysicsVector2 {\n  return Object.freeze([cleanZero(x), cleanZero(y)] as const);\n}\n\nfunction cleanZero(value: number): number {\n  return Object.is(value, -0) || Math.abs(value) <= Number.EPSILON ? 0 : value;\n}\n\nfunction cross(ax: number, ay: number, bx: number, by: number): number {\n  return ax * by - ay * bx;\n}\n"],
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   "names": ["normal"]
 }

package/dist/features/physics/lib/2d/query-types.d.ts

@@ -0,0 +1,6 @@
+import type { PibblPhysicsQueryOptions2D } from './types.js';
+export type QueryMode = 'closest' | 'any' | 'all';
+export interface QueryOptions<Mode extends QueryMode = 'closest'> extends PibblPhysicsQueryOptions2D {
+    readonly mode?: Mode;
+}
+export type QueryResult<Mode extends QueryMode, Result> = Mode extends 'any' ? boolean : Mode extends 'all' ? readonly Result[] : Result | null;

package/dist/features/physics/lib/2d/runtime/controller.d.ts

@@ -1,7 +1,8 @@
+import type { QueryMode, QueryOptions, QueryResult } from '../query-types.js';
 import type { PibblPhysicsBodyInspection2D, PibblPhysicsInspection2D } from "../inspection-types.js";
 import { type PibblInternalSimulationOwner } from "@pibbl/core/internal";
 import type { PibblPhysicsAabb2D, PibblPhysicsPose2D, PibblPhysicsRay2D, PibblPhysicsShape2D, PibblPhysicsVector2 } from "../../../2d-geometry.js";
-import type { PibblPhysicsBodyHandle2D, PibblPhysicsQueryHit2D, PibblPhysicsQueryMatch2D, PibblPhysicsQueryMode, PibblPhysicsQueryOptions2D, PibblPhysicsQueryResult2D, PibblPhysicsWorldHandle2D } from "../types.js";
+import type { PibblPhysicsBodyHandle2D, PibblPhysicsQueryHit2D, PibblPhysicsQueryMatch2D, PibblPhysicsWorldHandle2D } from "../types.js";
 import type { PibblResolvedPhysicsWorld2DProps } from "./world-props.js";
 import { PhysicsWorld2DKernel, type PhysicsBodyCommand2D, type PhysicsCommand2D } from "../world/world.js";
 import { type PhysicsBodyHandleValues2D } from "./body-handle.js";
@@ -67,11 +68,11 @@ export declare class PhysicsWorld2DController {
     queueCommands(commands: readonly PhysicsCommand2D[]): void;
     acceptBodyHandleCommand(handle: PibblPhysicsBodyHandle2D, bindingGeneration: number, command: PhysicsBodyCommand2D): boolean;
     presentationPose(bodyId: number): PibblPhysicsPose2D | undefined;
-    raycast<Mode extends PibblPhysicsQueryMode = "closest">(ray: PibblPhysicsRay2D, options?: PibblPhysicsQueryOptions2D<Mode>): PibblPhysicsQueryResult2D<Mode, PibblPhysicsQueryHit2D>;
-    shapeCast<Mode extends PibblPhysicsQueryMode = "closest">(shape: PibblPhysicsShape2D, from: PibblPhysicsPose2D, translation: PibblPhysicsVector2, options?: PibblPhysicsQueryOptions2D<Mode>): PibblPhysicsQueryResult2D<Mode, PibblPhysicsQueryHit2D>;
-    overlapShape<Mode extends PibblPhysicsQueryMode = "closest">(shape: PibblPhysicsShape2D, pose: PibblPhysicsPose2D, options?: PibblPhysicsQueryOptions2D<Mode>): PibblPhysicsQueryResult2D<Mode, PibblPhysicsQueryMatch2D>;
-    queryAabb<Mode extends PibblPhysicsQueryMode = "closest">(bounds: PibblPhysicsAabb2D, options?: PibblPhysicsQueryOptions2D<Mode>): PibblPhysicsQueryResult2D<Mode, PibblPhysicsQueryMatch2D>;
-    queryPoint<Mode extends PibblPhysicsQueryMode = "closest">(point: PibblPhysicsVector2, options?: PibblPhysicsQueryOptions2D<Mode>): PibblPhysicsQueryResult2D<Mode, PibblPhysicsQueryMatch2D>;
+    raycast<Mode extends QueryMode = "closest">(ray: PibblPhysicsRay2D, options?: QueryOptions<Mode>): QueryResult<Mode, PibblPhysicsQueryHit2D>;
+    shapeCast<Mode extends QueryMode = "closest">(shape: PibblPhysicsShape2D, from: PibblPhysicsPose2D, translation: PibblPhysicsVector2, options?: QueryOptions<Mode>): QueryResult<Mode, PibblPhysicsQueryHit2D>;
+    overlapShape<Mode extends QueryMode = "closest">(shape: PibblPhysicsShape2D, pose: PibblPhysicsPose2D, options?: QueryOptions<Mode>): QueryResult<Mode, PibblPhysicsQueryMatch2D>;
+    queryAabb<Mode extends QueryMode = "closest">(bounds: PibblPhysicsAabb2D, options?: QueryOptions<Mode>): QueryResult<Mode, PibblPhysicsQueryMatch2D>;
+    queryPoint<Mode extends QueryMode = "closest">(point: PibblPhysicsVector2, options?: QueryOptions<Mode>): QueryResult<Mode, PibblPhysicsQueryMatch2D>;
     bodyHandleValues(bodyId: number): PhysicsBodyHandleValues2D | undefined;
     inspectBody(bodyId: number): PibblPhysicsBodyInspection2D | undefined;
     dispose(): void;

package/dist/features/physics/lib/2d/runtime/controller.js

@@ -154,7 +154,7 @@ class PhysicsWorld2DController {
       );
     const simulationToRoot = this.space === "local" ? rootTransform : new DOMMatrix();
     const { a, b, c, d, e, f } = simulationToRoot;
-    if (![a, b, c, d, e, f].every(Number.isFinite) || Math.abs(a * d - b * c) < 1e-10)
+    if (!(Number.isFinite(a) && Number.isFinite(b) && Number.isFinite(c) && Number.isFinite(d) && Number.isFinite(e) && Number.isFinite(f)) || Math.abs(a * d - b * c) < 1e-10)
       throw new Error(
         "PhysicsWorld2D viewport transform must be finite and invertible."
       );