@pibbl/core 0.0.1 → 0.0.3-alpha.109.1

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

@@ -1,7 +1,7 @@
 {
   "version": 3,
   "sources": ["../../../../../../src/features/physics/lib/2d/runtime/controller.ts"],
-  "sourcesContent": ["import { CommittedObstacles2D } from \"./obstacles.js\";\nimport { boundsOfShape2D } from \"../../../2d-geometry.js\";\nimport { createShape2D } from \"../shape-records.js\";\nimport type {\n  PibblPhysicsBodyInspection2D,\n  PibblPhysicsInspection2D,\n} from \"../inspection-types.js\";\nimport { RapierSimulation2D } from \"../world/rapier.js\";\nimport { signal, type WritableSignal } from \"@pibbl/core\";\nimport {\n  pibblInternalOnSimulationRenderTransactionFinish,\n  pibblInternalCreateSignalConsumer,\n  pibblInternalCurrentRenderOwner,\n  type PibblInternalSignalConsumer,\n  pibblInternalQueueSimulationBegin,\n  pibblInternalQueueSimulationCommitAcknowledgement,\n  pibblInternalQueueSimulationComplete,\n  pibblInternalRegisterSimulationAdvance,\n  pibblInternalRequestSimulationRender,\n  type PibblInternalSignalBatch,\n  type PibblInternalSimulationOwner,\n} from \"@pibbl/core/internal\";\nimport type {\n  PibblPhysicsAabb2D,\n  PibblPhysicsPose2D,\n  PibblPhysicsRay2D,\n  PibblPhysicsShape2D,\n  PibblPhysicsVector2,\n} from \"../../../2d-geometry.js\";\nimport type { ShapeRecord2D } from \"../shape-records.js\";\nimport type {\n  PibblPhysicsBodyHandle2D,\n  PibblPhysicsColliderHandle2D,\n  PibblPhysicsQueryHit2D,\n  PibblPhysicsQueryMatch2D,\n  PibblPhysicsQueryMode,\n  PibblPhysicsQueryOptions2D,\n  PibblPhysicsQueryResult2D,\n  PibblPhysicsWorldHandle2D,\n} from \"../types.js\";\nimport type { PibblResolvedPhysicsWorld2DProps } from \"./world-props.js\";\nimport { BODY_CCD_2D } from \"../world/ccd.js\";\nimport { COLLIDER_SENSOR_2D } from \"../world/contact-cache.js\";\nimport {\n  BODY_FIXED_ROTATION_2D,\n  BODY_TYPE_DYNAMIC_2D,\n  BODY_TYPE_KINEMATIC_2D,\n} from \"../world/integrator.js\";\nimport { BODY_SLEEP_DISABLED_2D, BODY_SLEEPING_2D } from \"../world/solver.js\";\nimport type { BodyDefinition2D } from \"../world/storage.js\";\nimport {\n  copyFiniteVector2,\n  requireFiniteNumber,\n} from \"../../shared/validation.js\";\nimport {\n  normalizePhysicsWorld2DConfiguration,\n  PhysicsWorld2DKernel,\n  type NormalizedPhysicsWorld2DConfiguration,\n  type PhysicsBodyTopologyRecord2D,\n  type PhysicsBodyCommand2D,\n  type PhysicsColliderTopologyRecord2D,\n  type PhysicsCommand2D,\n  type PhysicsWorld2DConfiguration,\n  type PhysicsTopologyRecord2D,\n  type PhysicsWorld2DCandidate,\n} from \"../world/world.js\";\nimport { CommittedWorldQueries2D } from \"../world/queries.js\";\nimport {\n  bindPhysicsBodyHandle2D,\n  createPhysicsBodyHandle2D,\n  physicsBodyHandleBinding2D,\n  stagePhysicsBodyHandle2D,\n  type PhysicsBodyHandleValues2D,\n  unbindPhysicsBodyHandle2D,\n} from \"./body-handle.js\";\nimport {\n  createPhysicsColliderHandle2D,\n  isPhysicsBodyEventDelivery2D,\n  materializePhysicsBodyEvent2D,\n  materializePhysicsContactEvent2D,\n  physicsColliderHandleIdentity2D,\n  sortPhysicsEventDeliveries2D,\n  type PhysicsBodyEventDelivery2D,\n  type PhysicsContactEventDelivery2D,\n  type PhysicsEventDelivery2D,\n} from \"./events.js\";\nimport {\n  type MountedPhysicsAttachment2D,\n  type NormalizedPhysicsColliderConfiguration2D,\n  type PhysicsBodyAttachment2DDescriptor,\n} from \"./descriptors.js\";\n\nconst worldController2DSymbol = Symbol(\"PhysicsWorld2DController\");\n\ntype InternalWorldHandle2D = PibblPhysicsWorldHandle2D &\n  Readonly<{\n    readonly [worldController2DSymbol]: PhysicsWorld2DController;\n  }>;\n\ninterface BodyDraft2D {\n  readonly id: number;\n  readonly attachment: MountedPhysicsAttachment2D;\n  readonly descriptor: PhysicsBodyAttachment2DDescriptor;\n  readonly initialPose: PibblPhysicsPose2D;\n}\n\ninterface ColliderDraft2D {\n  readonly id: number;\n  readonly bodyId: number;\n  readonly attachment: MountedPhysicsAttachment2D;\n  readonly options: NormalizedPhysicsColliderConfiguration2D;\n  readonly shape: ShapeRecord2D;\n}\n\ninterface RenderDraft2D {\n  readonly simulationToRoot: DOMMatrix;\n  readonly configuration: NormalizedPhysicsWorld2DConfiguration;\n  readonly props: PibblResolvedPhysicsWorld2DProps;\n  readonly bodies: Map<number, BodyDraft2D>;\n  readonly colliders: Map<number, ColliderDraft2D>;\n}\n\ninterface AcceptedBody2D {\n  readonly id: number;\n  readonly attachment: MountedPhysicsAttachment2D;\n  readonly descriptor: PhysicsBodyAttachment2DDescriptor;\n  readonly initialPose: PibblPhysicsPose2D;\n  readonly handleBindingGeneration: number | undefined;\n}\n\ninterface AcceptedCollider2D {\n  readonly id: number;\n  readonly bodyId: number;\n  readonly attachment: MountedPhysicsAttachment2D;\n  readonly options: NormalizedPhysicsColliderConfiguration2D;\n}\n\ninterface AttachmentIds2D {\n  bodyId?: number;\n  colliderId?: number;\n}\n\ninterface BodyVelocity2D {\n  readonly linearVelocityX: number;\n  readonly linearVelocityY: number;\n  readonly angularVelocity: number;\n}\n\nexport interface PhysicsWorld2DControllerSnapshot {\n  readonly revision: number;\n  readonly revisionMaterialized: boolean;\n  readonly materializedBodyHandles: number;\n  readonly materializedColliderHandles: number;\n  readonly advanceRegistered: boolean;\n  readonly bodyIds: readonly number[];\n  readonly colliderIds: readonly number[];\n  readonly kernel: ReturnType<PhysicsWorld2DKernel[\"snapshot\"]>;\n}\n\nexport class PhysicsWorld2DController {\n  readonly handle: PibblPhysicsWorldHandle2D;\n  private revision: WritableSignal<number> | undefined;\n  private committedRevision = 0;\n  private obstacles: CommittedObstacles2D | undefined;\n  private obstacleSource: Readonly<{ read(): Readonly<{ revision: number; boxes: Float64Array; ellipses: Float64Array; polygons: Float64Array }> }> | undefined;\n\n  getObstacleSource(): Readonly<{ read(): Readonly<{ revision: number; boxes: Float64Array; ellipses: Float64Array; polygons: Float64Array }> }> {\n    this.assertActive();\n    if (!this.obstacleSource) {\n      if (this.liveCandidate) throw new Error(\"Create physics obstacles before simulation Advance.\");\n      this.obstacles = new CommittedObstacles2D();\n      this.obstacles.publish(this.kernel, this.acceptedColliders, this.committedRevision);\n      this.obstacleSource = Object.freeze({ read: () => {\n        this.assertActive();\n        return this.obstacles!.read();\n      } });\n    }\n    return this.obstacleSource;\n  }\n  private failedFrames = 0;\n  private lastFailure: string | null = null;\n  private readonly kernel: PhysicsWorld2DKernel;\n  private readonly ids = new WeakMap<object, AttachmentIds2D>();\n  private nextId = 0;\n  private draft: RenderDraft2D | undefined;\n  private acceptedTopology: readonly PhysicsTopologyRecord2D[] = Object.freeze(\n    [],\n  );\n  private acceptedBodies: readonly AcceptedBody2D[] = Object.freeze([]);\n  private acceptedColliders: readonly AcceptedCollider2D[] = Object.freeze([]);\n  private acceptedConfiguration: NormalizedPhysicsWorld2DConfiguration;\n  private acceptedProps: PibblResolvedPhysicsWorld2DProps = Object.freeze({});\n  private readonly suspendedVelocities = new Map<number, BodyVelocity2D>();\n  private readonly materializedBodyHandles = new Map<\n    string,\n    PibblPhysicsBodyHandle2D\n  >();\n  private readonly materializedColliderHandles = new Map<\n    string,\n    PibblPhysicsColliderHandle2D\n  >();\n  private materializedHandleTopologyPending = false;\n  private readonly queries: CommittedWorldQueries2D;\n  private queuedBegin: Readonly<{ cancel(): void }> | undefined;\n  private releaseAdvance: (() => void) | undefined;\n  private readonly releasePassiveAdvance: () => void;\n  private liveCandidate: PhysicsWorld2DCandidate | undefined;\n  private active = true;\n  private readonly space: \"root\" | \"local\";\n  private simulationToRoot = new DOMMatrix();\n  private readonly targetConsumer: PibblInternalSignalConsumer;\n\n  constructor(\n    private readonly owner: PibblInternalSimulationOwner,\n    initialProps: PibblResolvedPhysicsWorld2DProps,\n  ) {\n    this.space = initialProps.space ?? \"root\";\n    if (this.space !== \"root\" && this.space !== \"local\")\n      throw new TypeError('PhysicsWorld2D space must be \"root\" or \"local\".');\n    this.targetConsumer = pibblInternalCreateSignalConsumer({\n      owner: pibblInternalCurrentRenderOwner(),\n      debugName: \"PhysicsWorld2D kinematic targets\",\n      invalidate: () => {\n        if (this.active) this.ensureAdvance();\n      },\n    });\n    const configuration = normalizeWorldConfiguration(initialProps);\n    this.kernel = new PhysicsWorld2DKernel(\n      denormalizeWorldConfiguration(configuration),\n      new RapierSimulation2D(),\n    );\n    // Idle worlds still observe animation's staged target in the same Advance\n    // phase, without keeping the host clock alive themselves.\n    this.releasePassiveAdvance = pibblInternalRegisterSimulationAdvance(\n      this.owner,\n      \"physics\",\n      (frame, batch) => {\n        if (this.releaseAdvance !== undefined) return;\n        const targets = this.readKinematicTargets(batch);\n        for (const [id, target] of targets) {\n          if (this.kernel.bodyIdentity(id) === undefined) continue;\n          const pose = this.kernel.authoritativePose(id);\n          if (\n            target.position[0] !== pose.position[0] ||\n            target.position[1] !== pose.position[1] ||\n            target.rotationDegrees !== pose.rotationDegrees\n          ) {\n            this.ensureAdvance();\n            this.advance(frame.frameId, frame.logicalTime, batch);\n            return;\n          }\n        }\n      },\n      false,\n    );\n    this.queries = new CommittedWorldQueries2D({\n      generation: 1,\n      bodies: this.kernel.bodies,\n      colliders: this.kernel.colliders,\n      broadPhase: this.kernel.broadPhase,\n      materializeBody: (index, generation) =>\n        this.materializeBodyHandle(index, generation),\n      materializeCollider: (index, generation) =>\n        this.materializeColliderHandle(index, generation),\n      resolveBody: (handle) => this.resolveBodyHandle(handle),\n      resolveCollider: (handle) => this.resolveColliderHandle(handle),\n    });\n    this.acceptedConfiguration = configuration;\n    const target = {\n      [worldController2DSymbol]: this,\n    } as Record<PropertyKey, unknown>;\n    Object.defineProperty(target, \"revision\", {\n      enumerable: true,\n      get: () => this.materializeRevision().asReadonly(),\n    });\n    this.handle = Object.freeze(target) as unknown as InternalWorldHandle2D;\n  }\n\n  beginRender(\n    props: PibblResolvedPhysicsWorld2DProps,\n    rootTransform = new DOMMatrix(),\n  ): void {\n    if ((props.space ?? \"root\") !== this.space)\n      throw new Error(\n        \"PhysicsWorld2D space is creation-only; remount the world with a new key to change it.\",\n      );\n    const simulationToRoot =\n      this.space === \"local\" ? rootTransform : new DOMMatrix();\n    const { a, b, c, d, e, f } = simulationToRoot;\n    if (\n      ![a, b, c, d, e, f].every(Number.isFinite) ||\n      Math.abs(a * d - b * c) < 1e-10\n    )\n      throw new Error(\n        \"PhysicsWorld2D viewport transform must be finite and invertible.\",\n      );\n    this.assertActive();\n    if (this.draft !== undefined) {\n      throw new Error(\n        \"PhysicsWorld2D began a second render before finishing the first.\",\n      );\n    }\n    this.draft = {\n      simulationToRoot,\n      configuration: normalizeWorldConfiguration(props),\n      props,\n      bodies: new Map(),\n      colliders: new Map(),\n    };\n    pibblInternalOnSimulationRenderTransactionFinish(this.owner, (success) =>\n      this.finishRender(success),\n    );\n  }\n\n  simulationTransform(root: DOMMatrix): DOMMatrix {\n    return (this.draft?.simulationToRoot ?? this.simulationToRoot)\n      .inverse()\n      .multiply(root);\n  }\n\n  rootTransform(local: DOMMatrix): DOMMatrix {\n    return (this.draft?.simulationToRoot ?? this.simulationToRoot).multiply(\n      local,\n    );\n  }\n\n  convertPoint(point: PibblPhysicsVector2, toRoot: boolean): PibblPhysicsVector2 {\n    this.assertActive();\n    const value = copyFiniteVector2(point, \"point\");\n    const matrix = toRoot\n      ? this.simulationToRoot\n      : this.simulationToRoot.inverse();\n    return Object.freeze([\n      matrix.a * value[0] + matrix.c * value[1] + matrix.e,\n      matrix.b * value[0] + matrix.d * value[1] + matrix.f,\n    ]);\n  }\n\n  bodyIdFor(attachment: MountedPhysicsAttachment2D): number {\n    let ids = this.ids.get(attachment);\n    if (!ids) {\n      ids = {};\n      this.ids.set(attachment, ids);\n    }\n    return (ids.bodyId ??= this.allocateId());\n  }\n\n  colliderIdFor(attachment: MountedPhysicsAttachment2D): number {\n    let ids = this.ids.get(attachment);\n    if (!ids) {\n      ids = {};\n      this.ids.set(attachment, ids);\n    }\n    return (ids.colliderId ??= this.allocateId());\n  }\n\n  collectBody(\n    attachment: MountedPhysicsAttachment2D,\n    bodyId: number,\n    descriptor: PhysicsBodyAttachment2DDescriptor,\n    initialPose: PibblPhysicsPose2D = ZERO_POSE_2D,\n  ): void {\n    const draft = this.requireDraft();\n    draft.bodies.set(bodyId, {\n      id: bodyId,\n      attachment,\n      descriptor,\n      initialPose: copyPhysicsPose2D(initialPose),\n    });\n    const collider = descriptor.options.collider;\n    if (\n      collider !== false &&\n      collider.shape !== \"self\" &&\n      descriptor.options.enabled\n    ) {\n      const colliderId = this.colliderIdFor(attachment);\n      draft.colliders.set(colliderId, {\n        id: colliderId,\n        bodyId,\n        attachment,\n        options: collider,\n        shape: attachment.resolveShape(collider),\n      });\n    }\n  }\n\n  collectCollider(\n    attachment: MountedPhysicsAttachment2D,\n    bodyId: number,\n    options: NormalizedPhysicsColliderConfiguration2D,\n  ): void {\n    if (options.shape === \"self\") return;\n    const draft = this.requireDraft();\n    if (draft.bodies.get(bodyId)?.descriptor.options.enabled === false) return;\n    const colliderId = this.colliderIdFor(attachment);\n    draft.colliders.set(colliderId, {\n      id: colliderId,\n      bodyId,\n      attachment,\n      options,\n      shape: attachment.resolveShape(options),\n    });\n  }\n\n  queueCommands(commands: readonly PhysicsCommand2D[]): void {\n    this.assertActive();\n    if (commands.length === 0) return;\n    pibblInternalQueueSimulationBegin(this.owner, () => {\n      this.kernel.applyBegin(commands);\n    });\n    this.ensureAdvance();\n  }\n\n  acceptBodyHandleCommand(\n    handle: PibblPhysicsBodyHandle2D,\n    bindingGeneration: number,\n    command: PhysicsBodyCommand2D,\n  ): boolean {\n    if (!this.active) return false;\n    const binding = physicsBodyHandleBinding2D(handle);\n    const accepted = this.acceptedBodies.find(\n      (body) =>\n        body.id === command.bodyId &&\n        body.descriptor.options.handle === handle &&\n        body.handleBindingGeneration === bindingGeneration,\n    );\n    const identity = this.kernel.bodyIdentity(command.bodyId);\n    const materialized =\n      identity === undefined\n        ? undefined\n        : this.materializedBodyHandles.get(\n            `${String(identity.index)}:${String(identity.generation)}`,\n          );\n    if (\n      binding?.controller !== this ||\n      binding.bindingGeneration !== bindingGeneration ||\n      (accepted === undefined && materialized !== handle)\n    ) {\n      return false;\n    }\n    this.kernel.applyBegin([command]);\n    this.ensureAdvance();\n    return true;\n  }\n\n  presentationPose(bodyId: number): PibblPhysicsPose2D | undefined {\n    return this.kernel.bodyIdentity(bodyId) !== undefined\n      ? this.kernel.presentationPose(bodyId)\n      : undefined;\n  }\n\n  raycast<Mode extends PibblPhysicsQueryMode = \"closest\">(\n    ray: PibblPhysicsRay2D,\n    options?: PibblPhysicsQueryOptions2D<Mode>,\n  ): PibblPhysicsQueryResult2D<Mode, PibblPhysicsQueryHit2D> {\n    this.assertActive();\n    return this.queries.raycast(1, ray, options);\n  }\n\n  shapeCast<Mode extends PibblPhysicsQueryMode = \"closest\">(\n    shape: PibblPhysicsShape2D,\n    from: PibblPhysicsPose2D,\n    translation: PibblPhysicsVector2,\n    options?: PibblPhysicsQueryOptions2D<Mode>,\n  ): PibblPhysicsQueryResult2D<Mode, PibblPhysicsQueryHit2D> {\n    this.assertActive();\n    return this.queries.shapeCast(1, shape, from, translation, options);\n  }\n\n  overlapShape<Mode extends PibblPhysicsQueryMode = \"closest\">(\n    shape: PibblPhysicsShape2D,\n    pose: PibblPhysicsPose2D,\n    options?: PibblPhysicsQueryOptions2D<Mode>,\n  ): PibblPhysicsQueryResult2D<Mode, PibblPhysicsQueryMatch2D> {\n    this.assertActive();\n    return this.queries.overlapShape(1, shape, pose, options);\n  }\n\n  queryAabb<Mode extends PibblPhysicsQueryMode = \"closest\">(\n    bounds: PibblPhysicsAabb2D,\n    options?: PibblPhysicsQueryOptions2D<Mode>,\n  ): PibblPhysicsQueryResult2D<Mode, PibblPhysicsQueryMatch2D> {\n    this.assertActive();\n    return this.queries.queryAabb(1, bounds, options);\n  }\n\n  queryPoint<Mode extends PibblPhysicsQueryMode = \"closest\">(\n    point: PibblPhysicsVector2,\n    options?: PibblPhysicsQueryOptions2D<Mode>,\n  ): PibblPhysicsQueryResult2D<Mode, PibblPhysicsQueryMatch2D> {\n    this.assertActive();\n    return this.queries.queryPoint(1, point, options);\n  }\n\n  bodyHandleValues(bodyId: number): PhysicsBodyHandleValues2D | undefined {\n    if (!this.active) return undefined;\n    const identity = this.kernel.bodyIdentity(bodyId);\n    if (identity === undefined) return undefined;\n    const index = identity.index;\n    const bodies = this.kernel.bodies;\n    const state = {\n      linearVelocityX: bodies.linearVelocityX[index]!,\n      linearVelocityY: bodies.linearVelocityY[index]!,\n      angularVelocity: bodies.angularVelocity[index]!,\n      flags: bodies.flags[index]!,\n      generation: identity.generation,\n    };\n    const pose = this.kernel.authoritativePose(bodyId);\n    return Object.freeze({\n      position: pose.position,\n      rotationDegrees: pose.rotationDegrees,\n      linearVelocity: Object.freeze([\n        state.linearVelocityX,\n        state.linearVelocityY,\n      ] as const),\n      angularVelocityDegreesPerSecond: (state.angularVelocity * 180) / Math.PI,\n      sleeping: (state.flags & BODY_SLEEPING_2D) !== 0,\n      enabled: this.kernel.isBodyEnabled(bodyId),\n      generation: state.generation,\n    });\n  }\n\n  inspectBody(bodyId: number): PibblPhysicsBodyInspection2D | undefined {\n    if (!this.active) return undefined;\n    const identity = this.kernel.bodyIdentity(bodyId);\n    const declared = this.acceptedBodies.find((body) => body.id === bodyId);\n    if (identity === undefined || declared === undefined) return undefined;\n    const index = identity.index;\n    const bodies = this.kernel.bodies;\n    const flags = bodies.flags[index]!;\n    return Object.freeze({\n      id: bodyId,\n      generation: identity.generation,\n      type: declared.descriptor.bodyType,\n      enabled: this.kernel.isBodyEnabled(bodyId),\n      sleeping: !!(flags & BODY_SLEEPING_2D),\n      pose: this.kernel.authoritativePose(bodyId),\n      presentationPose: this.kernel.presentationPose(bodyId),\n      centerOfMass: Object.freeze([\n        bodies.positionX[index]!,\n        bodies.positionY[index]!,\n      ] as const),\n      linearVelocity: Object.freeze([\n        bodies.linearVelocityX[index]!,\n        bodies.linearVelocityY[index]!,\n      ] as const),\n      angularVelocityDegreesPerSecond:\n        (bodies.angularVelocity[index]! * 180) / Math.PI,\n      mass: bodies.inverseMass[index]! > 0 ? 1 / bodies.inverseMass[index]! : null,\n    });\n  }\n\n  dispose(): void {\n    if (!this.active) return;\n    this.active = false;\n    this.targetConsumer.dispose();\n    this.releasePassiveAdvance();\n    this.queuedBegin?.cancel();\n    this.queuedBegin = undefined;\n    this.releaseAdvance?.();\n    this.releaseAdvance = undefined;\n    if (this.liveCandidate !== undefined) {\n      this.kernel.discard(this.liveCandidate);\n      this.liveCandidate = undefined;\n    }\n    for (const body of this.acceptedBodies) this.unbindBodyHandle(body);\n    for (const handle of this.materializedBodyHandles.values()) {\n      const binding = physicsBodyHandleBinding2D(handle);\n      if (binding?.controller === this) {\n        unbindPhysicsBodyHandle2D(\n          handle,\n          this,\n          binding.bodyId,\n          binding.bindingGeneration,\n        );\n      }\n    }\n    this.materializedBodyHandles.clear();\n    this.materializedColliderHandles.clear();\n    this.materializedHandleTopologyPending = false;\n    this.obstacles = undefined;\n    this.obstacleSource = undefined;\n    this.kernel.dispose();\n    this.queries.invalidate();\n    this.acceptedBodies = Object.freeze([]);\n    this.acceptedColliders = Object.freeze([]);\n    this.draft = undefined;\n    this.suspendedVelocities.clear();\n  }\n\n  inspect(): PibblPhysicsInspection2D {\n    this.assertActive();\n    const snapshot = this.kernel.snapshot();\n    const vector = (x: number, y: number): PibblPhysicsVector2 =>\n      Object.freeze([x, y]);\n    const contacts = this.kernel.contacts;\n    const declaredTypes = new Map(\n      this.acceptedBodies.map((body) => [body.id, body.descriptor.bodyType]),\n    );\n    return Object.freeze({\n      engine: \"rapier-2d@0.21.0\",\n      space: this.space,\n      revision: this.committedRevision,\n      tick: snapshot.tick,\n      advancing: this.releaseAdvance !== undefined,\n      failedFrames: this.failedFrames,\n      lastFailure: this.lastFailure,\n      bodies: Object.freeze(\n        snapshot.bodies.map((body) =>\n          Object.freeze({\n            id: body.id,\n            generation: body.generation,\n            type: declaredTypes.get(body.id)!,\n            enabled: this.kernel.isBodyEnabled(body.id),\n            sleeping: !!(body.flags & BODY_SLEEPING_2D),\n            pose: this.kernel.authoritativePose(body.id),\n            presentationPose: this.kernel.presentationPose(body.id),\n            centerOfMass: vector(body.positionX, body.positionY),\n            linearVelocity: vector(body.linearVelocityX, body.linearVelocityY),\n            angularVelocityDegreesPerSecond:\n              (body.angularVelocity * 180) / Math.PI,\n            mass: body.inverseMass > 0 ? 1 / body.inverseMass : null,\n          }),\n        ),\n      ),\n      colliders: Object.freeze(\n        this.acceptedColliders.flatMap((collider) => {\n          const identity = this.kernel.colliderIdentity(collider.id);\n          if (!identity) return [];\n          const shape = this.kernel.colliders.shapes[identity.index]!;\n          return [\n            Object.freeze({\n              id: collider.id,\n              generation: identity.generation,\n              bodyId: collider.bodyId,\n              sensor: !!(\n                this.kernel.colliders.flags[identity.index]! &\n                COLLIDER_SENSOR_2D\n              ),\n              label:\n                typeof collider.options.tag === \"string\"\n                  ? collider.options.tag\n                  : null,\n              shapeKinds: Object.freeze(shape.leaves.map((leaf) => leaf.kind)),\n              bounds: boundsOfShape2D(\n                createShape2D(shape),\n                this.kernel.authoritativePose(collider.bodyId),\n              ),\n            }),\n          ];\n        }),\n      ),\n      contacts: Object.freeze(\n        Array.from(\n          { length: contacts.contactCount },\n          (_, index) => index,\n        ).flatMap((index) => {\n          const firstColliderId = this.kernel.colliderIdForIdentity(\n            contacts.firstColliderIndices[index]!,\n            contacts.firstColliderGenerations[index]!,\n          );\n          const secondColliderId = this.kernel.colliderIdForIdentity(\n            contacts.secondColliderIndices[index]!,\n            contacts.secondColliderGenerations[index]!,\n          );\n          if (firstColliderId === undefined || secondColliderId === undefined)\n            return [];\n          return [\n            Object.freeze({\n              firstColliderId,\n              secondColliderId,\n              sensor: contacts.sensorFlags[index] !== 0,\n              normal: vector(\n                contacts.normalX[index]!,\n                contacts.normalY[index]!,\n              ),\n              normalImpulse:\n                contacts.pointNormalImpulses[index * 2]! +\n                (contacts.pointCounts[index]! > 1\n                  ? contacts.pointNormalImpulses[index * 2 + 1]!\n                  : 0),\n              points: Object.freeze(\n                Array.from(\n                  { length: contacts.pointCounts[index]! },\n                  (_, point) => {\n                    const offset = index * 2 + point;\n                    return Object.freeze({\n                      pointOnFirst: vector(\n                        contacts.pointFirstX[offset]!,\n                        contacts.pointFirstY[offset]!,\n                      ),\n                      pointOnSecond: vector(\n                        contacts.pointSecondX[offset]!,\n                        contacts.pointSecondY[offset]!,\n                      ),\n                      separation: contacts.pointSeparations[offset]!,\n                    });\n                  },\n                ),\n              ),\n            }),\n          ];\n        }),\n      ),\n    });\n  }\n\n  snapshot(): PhysicsWorld2DControllerSnapshot {\n    return Object.freeze({\n      revision: this.committedRevision,\n      revisionMaterialized: this.revision !== undefined,\n      materializedBodyHandles: this.materializedBodyHandles.size,\n      materializedColliderHandles: this.materializedColliderHandles.size,\n      advanceRegistered: this.releaseAdvance !== undefined,\n      bodyIds: Object.freeze(\n        this.acceptedTopology\n          .filter(\n            (record): record is PhysicsBodyTopologyRecord2D =>\n              record.kind === \"body\",\n          )\n          .map((record) => record.id),\n      ),\n      colliderIds: Object.freeze(\n        this.acceptedTopology\n          .filter(\n            (record): record is PhysicsColliderTopologyRecord2D =>\n              record.kind === \"collider\",\n          )\n          .map((record) => record.id),\n      ),\n      kernel: this.kernel.snapshot(),\n    });\n  }\n\n  private finishRender(success: boolean): void {\n    const draft = this.draft;\n    this.draft = undefined;\n    if (!success || draft === undefined || !this.active) return;\n    validateAutomaticMass(draft);\n    const reenableVelocities = this.resolveReenableVelocities(draft);\n    const previousBodyDefinitions = new Map(\n      this.acceptedTopology\n        .filter(\n          (record): record is PhysicsBodyTopologyRecord2D =>\n            record.kind === \"body\",\n        )\n        .map((record) => [record.id, record.definition] as const),\n    );\n    const topology = materializeTopology(\n      draft,\n      reenableVelocities,\n      previousBodyDefinitions,\n    );\n    const topologyChanged = !sameTopology(this.acceptedTopology, topology);\n    const configurationChanged = !sameConfiguration(\n      this.acceptedConfiguration,\n      draft.configuration,\n    );\n    const nextBodies = [...draft.bodies.values()].sort(\n      (left, right) => left.id - right.id,\n    );\n    validateUniqueBodyHandles(nextBodies);\n    const nextBodiesById = new Map(nextBodies.map((body) => [body.id, body]));\n    for (const body of this.acceptedBodies) {\n      const next = nextBodiesById.get(body.id);\n      const retained =\n        next !== undefined &&\n        next.descriptor.options.handle === body.descriptor.options.handle;\n      if (!retained) this.unbindBodyHandle(body);\n    }\n    this.simulationToRoot = draft.simulationToRoot;\n    this.acceptedProps = draft.props;\n    this.acceptedBodies = Object.freeze(\n      nextBodies.map(({ id, attachment, descriptor, initialPose }) =>\n        Object.freeze({\n          id,\n          attachment,\n          descriptor,\n          initialPose,\n          handleBindingGeneration:\n            descriptor.options.handle === undefined\n              ? undefined\n              : bindPhysicsBodyHandle2D(descriptor.options.handle, this, id),\n        }),\n      ),\n    );\n    this.acceptedColliders = Object.freeze(\n      [...draft.colliders.values()]\n        .sort((left, right) => left.id - right.id)\n        .map(({ id, bodyId, attachment, options }) =>\n          Object.freeze({ id, bodyId, attachment, options }),\n        ),\n    );\n    this.targetConsumer.collect(() => {\n      for (const body of this.acceptedBodies) {\n        if (\n          body.descriptor.bodyType !== \"kinematic\" ||\n          !body.descriptor.options.enabled\n        )\n          continue;\n        body.descriptor.options.target.position?.get();\n        body.descriptor.options.target.rotationDegrees?.get();\n      }\n    });\n    this.targetConsumer.markClean();\n    this.acceptedTopology = topology;\n    this.kernel.updateColliderMetadata(topology);\n    if (topologyChanged) this.materializedHandleTopologyPending = true;\n    if (!topologyChanged && !configurationChanged) return;\n    this.acceptedConfiguration = draft.configuration;\n    this.queuedBegin?.cancel();\n    this.queuedBegin = pibblInternalQueueSimulationBegin(this.owner, () => {\n      this.queuedBegin = undefined;\n      if (topologyChanged) this.kernel.proposeTopology(this.acceptedTopology);\n      if (configurationChanged) {\n        this.kernel.applyBegin([\n          {\n            kind: \"configure\",\n            configuration: denormalizeWorldConfiguration(draft.configuration),\n          },\n        ]);\n      }\n    });\n    this.ensureAdvance();\n  }\n\n  private ensureAdvance(): void {\n    if (this.releaseAdvance !== undefined) return;\n    this.releaseAdvance = pibblInternalRegisterSimulationAdvance(\n      this.owner,\n      \"physics\",\n      (frame, batch) => this.advance(frame.frameId, frame.logicalTime, batch),\n    );\n  }\n\n  private resolveReenableVelocities(\n    draft: RenderDraft2D,\n  ): ReadonlyMap<number, BodyVelocity2D> {\n    const previousById = new Map(\n      this.acceptedBodies.map((body) => [body.id, body]),\n    );\n    const overrides = new Map<number, BodyVelocity2D>();\n    for (const body of draft.bodies.values()) {\n      const previous = previousById.get(body.id);\n      const currentDynamic =\n        body.descriptor.bodyType === \"dynamic\" ? body.descriptor : undefined;\n      const previousDynamic =\n        previous?.descriptor.bodyType === \"dynamic\"\n          ? previous.descriptor\n          : undefined;\n      if (\n        currentDynamic !== undefined &&\n        !currentDynamic.options.enabled &&\n        previousDynamic?.options.enabled\n      ) {\n        const identity = this.kernel.bodyIdentity(body.id);\n        if (identity !== undefined) {\n          const bodies = this.kernel.bodies;\n          this.suspendedVelocities.set(\n            body.id,\n            Object.freeze({\n              linearVelocityX: bodies.linearVelocityX[identity.index]!,\n              linearVelocityY: bodies.linearVelocityY[identity.index]!,\n              angularVelocity: bodies.angularVelocity[identity.index]!,\n            }),\n          );\n        }\n      }\n      if (\n        currentDynamic?.options.enabled &&\n        previousDynamic !== undefined &&\n        !previousDynamic.options.enabled\n      ) {\n        const preserved = this.suspendedVelocities.get(body.id);\n        overrides.set(\n          body.id,\n          currentDynamic.options.reenableVelocity === \"preserve\" && preserved\n            ? preserved\n            : ZERO_VELOCITY_2D,\n        );\n      }\n    }\n    const retained = new Set(draft.bodies.keys());\n    for (const id of this.suspendedVelocities.keys()) {\n      if (!retained.has(id)) this.suspendedVelocities.delete(id);\n    }\n    return overrides;\n  }\n\n  private advance(\n    frameId: number,\n    logicalTime: number,\n    batch: PibblInternalSignalBatch,\n  ): void {\n    let candidate: PhysicsWorld2DCandidate | undefined;\n    try {\n      candidate = this.kernel.advance({\n        frameId,\n        logicalTime,\n        stagedKinematicTargets: this.readKinematicTargets(batch),\n      });\n      if (candidate === undefined) return;\n      this.liveCandidate = candidate;\n      const nextRevision = this.committedRevision + 1;\n      this.stagePublicSignals(batch, nextRevision);\n      const events = this.copyEventDeliveries(candidate);\n      let adopted = false;\n      if (events.length > 0) {\n        pibblInternalQueueSimulationComplete(this.owner, () => {\n          if (adopted) this.deliverEvents(events);\n        });\n      }\n      pibblInternalQueueSimulationCommitAcknowledgement(\n        this.owner,\n        (_frame, outcome) => {\n          if (this.liveCandidate !== candidate) return;\n          this.liveCandidate = undefined;\n          if (!outcome.applied) {\n            this.kernel.discard(candidate!);\n            return;\n          }\n          this.kernel.adopt(candidate!);\n          if (this.materializedHandleTopologyPending) {\n            this.evictRetiredMaterializedHandles();\n            this.materializedHandleTopologyPending = false;\n          }\n          this.committedRevision = nextRevision;\n          this.obstacles?.publish(this.kernel, this.acceptedColliders, nextRevision);\n          adopted = true;\n          pibblInternalRequestSimulationRender(this.owner);\n          if (\n            !this.hasAwakeBodies() &&\n            (candidate!.stepCount > 0 ||\n              !this.acceptedBodies.some(\n                (body) => body.descriptor.bodyType === \"kinematic\",\n              ))\n          ) {\n            this.releaseAdvance?.();\n            this.releaseAdvance = undefined;\n          }\n        },\n      );\n    } catch (error) {\n      this.failedFrames++;\n      this.lastFailure = error instanceof Error ? error.message : String(error);\n      if (candidate?.lifecycle === \"live\") this.kernel.discard(candidate);\n      if (this.liveCandidate === candidate) this.liveCandidate = undefined;\n      const onError = this.acceptedProps.onError;\n      if (onError) {\n        pibblInternalQueueSimulationComplete(this.owner, () => onError(error));\n      }\n      throw error;\n    }\n  }\n\n  private readKinematicTargets(\n    batch: PibblInternalSignalBatch,\n  ): ReadonlyMap<number, PibblPhysicsPose2D> {\n    const targets = new Map<number, PibblPhysicsPose2D>();\n    for (const body of this.acceptedBodies) {\n      if (\n        body.descriptor.bodyType !== \"kinematic\" ||\n        !body.descriptor.options.enabled\n      )\n        continue;\n      const target = body.descriptor.options.target;\n      if (\n        target.position === undefined &&\n        target.rotationDegrees === undefined\n      ) {\n        continue;\n      }\n      const position =\n        target.position === undefined\n          ? body.initialPose.position\n          : batch.read(\n              target.position as WritableSignal<readonly [number, number]>,\n            );\n      const rotationDegrees =\n        target.rotationDegrees === undefined\n          ? body.initialPose.rotationDegrees\n          : batch.read(target.rotationDegrees as WritableSignal<number>);\n      targets.set(\n        body.id,\n        Object.freeze({\n          position: Object.freeze([position[0], position[1]] as const),\n          rotationDegrees,\n        }),\n      );\n    }\n    return targets;\n  }\n\n  private stagePublicSignals(\n    batch: PibblInternalSignalBatch,\n    nextRevision: number,\n  ): void {\n    if (this.revision !== undefined) {\n      batch.stage(this.revision, nextRevision, this);\n    }\n    const bodies = this.kernel.bodies;\n    for (const body of this.acceptedBodies) {\n      const identity = this.kernel.bodyIdentity(body.id);\n      if (identity === undefined) continue;\n      const explicit = body.descriptor.options.handle;\n      const materialized = this.materializedBodyHandles.get(\n        `${String(identity.index)}:${String(identity.generation)}`,\n      );\n      if (explicit === undefined && materialized === undefined) continue;\n      const pose = this.kernel.authoritativePose(body.id);\n      const values = {\n        position: pose.position,\n        rotationDegrees: pose.rotationDegrees,\n        linearVelocity: Object.freeze([\n          bodies.linearVelocityX[identity.index]!,\n          bodies.linearVelocityY[identity.index]!,\n        ] as const),\n        angularVelocityDegreesPerSecond:\n          (bodies.angularVelocity[identity.index]! * 180) / Math.PI,\n        sleeping: (bodies.flags[identity.index]! & BODY_SLEEPING_2D) !== 0,\n        enabled: this.kernel.isBodyEnabled(body.id),\n        generation: identity.generation,\n      } as const;\n      if (explicit !== undefined) {\n        stagePhysicsBodyHandle2D(batch, explicit, values, this);\n      }\n      if (materialized !== undefined && materialized !== explicit) {\n        stagePhysicsBodyHandle2D(batch, materialized, values, this);\n      }\n    }\n  }\n\n  private copyEventDeliveries(\n    candidate: PhysicsWorld2DCandidate,\n  ): readonly PhysicsEventDelivery2D[] {\n    const events: PhysicsEventDelivery2D[] = [];\n    for (let offset = 0; offset < candidate.eventCount; offset += 1) {\n      const eventIndex = candidate.eventOffset + offset;\n      const kind = candidate.eventKinds[eventIndex];\n      if (kind === 5 || kind === 6) {\n        const handler =\n          kind === 6 ? this.acceptedProps.onSleep : this.acceptedProps.onWake;\n        if (handler === undefined) continue;\n        const bodyIndex = candidate.eventFirstColliderIndices[eventIndex]!;\n        const bodyGeneration = this.kernel.bodies.generations[bodyIndex]!;\n        const bodyId = this.kernel.bodyIdForIdentity(bodyIndex, bodyGeneration);\n        if (bodyId === undefined) continue;\n        events.push(\n          Object.freeze({\n            kind,\n            tick: candidate.eventTicks[eventIndex]!,\n            bodyIndex,\n            bodyGeneration,\n            bodyId,\n            handler,\n          }) satisfies PhysicsBodyEventDelivery2D,\n        );\n        continue;\n      }\n      if (kind !== 1 && kind !== 2 && kind !== 3 && kind !== 4 && kind !== 7) {\n        continue;\n      }\n      this.copyContactEventDeliveries(candidate, eventIndex, kind, events);\n    }\n    return sortPhysicsEventDeliveries2D(events);\n  }\n\n  private copyContactEventDeliveries(\n    candidate: PhysicsWorld2DCandidate,\n    eventIndex: number,\n    kind: PhysicsContactEventDelivery2D[\"kind\"],\n    events: PhysicsEventDelivery2D[],\n  ): void {\n    const firstColliderIndex = candidate.eventFirstColliderIndices[eventIndex]!;\n    const firstColliderGeneration =\n      candidate.eventFirstColliderGenerations[eventIndex]!;\n    const secondColliderIndex =\n      candidate.eventSecondColliderIndices[eventIndex]!;\n    const secondColliderGeneration =\n      candidate.eventSecondColliderGenerations[eventIndex]!;\n    const first = this.acceptedColliderForIdentity(\n      firstColliderIndex,\n      firstColliderGeneration,\n    );\n    const second = this.acceptedColliderForIdentity(\n      secondColliderIndex,\n      secondColliderGeneration,\n    );\n    if (first === undefined || second === undefined) return;\n    const handlerName = eventHandlerName(kind);\n    const firstHandler = first.options.handlers[handlerName];\n    const secondHandler = second.options.handlers[handlerName];\n    if (firstHandler === undefined && secondHandler === undefined) return;\n    const firstBodyIdentity = this.kernel.bodyIdentity(first.bodyId);\n    const secondBodyIdentity = this.kernel.bodyIdentity(second.bodyId);\n    if (firstBodyIdentity === undefined || secondBodyIdentity === undefined)\n      return;\n    const points: Array<PhysicsContactEventDelivery2D[\"points\"][number]> = [];\n    const pointBase = eventIndex * 2;\n    for (\n      let point = 0;\n      point < candidate.eventPointCounts[eventIndex]!;\n      point += 1\n    ) {\n      points.push(\n        Object.freeze({\n          firstX: candidate.eventPointFirstX[pointBase + point]!,\n          firstY: candidate.eventPointFirstY[pointBase + point]!,\n          secondX: candidate.eventPointSecondX[pointBase + point]!,\n          secondY: candidate.eventPointSecondY[pointBase + point]!,\n          separation: candidate.eventPointSeparations[pointBase + point]!,\n        }),\n      );\n    }\n    const common = {\n      kind,\n      tick: candidate.eventTicks[eventIndex]!,\n      firstColliderIndex,\n      firstColliderGeneration,\n      secondColliderIndex,\n      secondColliderGeneration,\n      firstBodyIndex: firstBodyIdentity.index,\n      firstBodyGeneration: firstBodyIdentity.generation,\n      secondBodyIndex: secondBodyIdentity.index,\n      secondBodyGeneration: secondBodyIdentity.generation,\n      normalX: candidate.eventNormalX[eventIndex]!,\n      normalY: candidate.eventNormalY[eventIndex]!,\n      points: Object.freeze(points),\n      totalNormalImpulse: candidate.eventTotalNormalImpulses[eventIndex]!,\n    } as const;\n    if (firstHandler !== undefined) {\n      events.push(\n        Object.freeze({\n          ...common,\n          receiver: \"first\",\n          receiverColliderId: first.id,\n          receiverBodyId: first.bodyId,\n          handler: firstHandler,\n          selfTag: first.options.tag,\n          otherTag: second.options.tag,\n        }) as PhysicsContactEventDelivery2D,\n      );\n    }\n    if (secondHandler !== undefined) {\n      events.push(\n        Object.freeze({\n          ...common,\n          receiver: \"second\",\n          receiverColliderId: second.id,\n          receiverBodyId: second.bodyId,\n          handler: secondHandler,\n          selfTag: second.options.tag,\n          otherTag: first.options.tag,\n        }) as PhysicsContactEventDelivery2D,\n      );\n    }\n  }\n\n  private deliverEvents(events: readonly PhysicsEventDelivery2D[]): void {\n    if (!this.active) return;\n    const errors: unknown[] = [];\n    for (const fact of events) {\n      try {\n        if (isPhysicsBodyEventDelivery2D(fact)) {\n          const handler = this.bodyEventHandler(fact);\n          if (!handler) continue;\n          handler(\n            materializePhysicsBodyEvent2D(\n              fact,\n              this.materializeBodyHandle(fact.bodyIndex, fact.bodyGeneration),\n            ),\n          );\n          continue;\n        }\n        const handler = this.contactEventHandler(fact);\n        if (!handler) continue;\n        handler(\n          materializePhysicsContactEvent2D(fact, {\n            body: (index, generation) =>\n              this.materializeBodyHandle(index, generation),\n            collider: (index, generation) =>\n              this.materializeColliderHandle(index, generation),\n          }) as never,\n        );\n      } catch (error) {\n        errors.push(error);\n      }\n    }\n    if (errors.length === 1) throw errors[0];\n    if (errors.length > 1) {\n      throw new AggregateError(\n        errors,\n        \"Multiple physics 2D event callbacks failed.\",\n      );\n    }\n  }\n\n  private bodyEventHandler(\n    fact: PhysicsBodyEventDelivery2D,\n  ): PhysicsBodyEventDelivery2D[\"handler\"] | undefined {\n    const handler =\n      fact.kind === 6 ? this.acceptedProps.onSleep : this.acceptedProps.onWake;\n    const identity = this.kernel.bodyIdentity(fact.bodyId);\n    return identity?.index === fact.bodyIndex &&\n      identity.generation === fact.bodyGeneration\n      ? handler\n      : undefined;\n  }\n\n  private contactEventHandler(\n    fact: PhysicsContactEventDelivery2D,\n  ): PhysicsContactEventDelivery2D[\"handler\"] | undefined {\n    const receiver = this.acceptedColliders.find(\n      (collider) => collider.id === fact.receiverColliderId,\n    );\n    if (receiver === undefined || receiver.bodyId !== fact.receiverBodyId)\n      return undefined;\n    const handler = receiver.options.handlers[eventHandlerName(fact.kind)];\n    const colliderIdentity = this.kernel.colliderIdentity(receiver.id);\n    const expectedIndex =\n      fact.receiver === \"first\"\n        ? fact.firstColliderIndex\n        : fact.secondColliderIndex;\n    const expectedGeneration =\n      fact.receiver === \"first\"\n        ? fact.firstColliderGeneration\n        : fact.secondColliderGeneration;\n    return colliderIdentity?.index === expectedIndex &&\n      colliderIdentity.generation === expectedGeneration\n      ? handler\n      : undefined;\n  }\n\n  private acceptedColliderForIdentity(\n    index: number,\n    generation: number,\n  ): AcceptedCollider2D | undefined {\n    return this.acceptedColliders.find((collider) => {\n      const identity = this.kernel.colliderIdentity(collider.id);\n      return identity?.index === index && identity.generation === generation;\n    });\n  }\n\n  private hasAwakeBodies(): boolean {\n    for (const body of this.acceptedBodies) {\n      if (\n        body.descriptor.bodyType !== \"kinematic\" ||\n        !body.descriptor.options.enabled ||\n        this.kernel.bodyIdentity(body.id) === undefined\n      )\n        continue;\n      const pose = this.kernel.authoritativePose(body.id);\n      const target = body.descriptor.options.target;\n      const position = target.position?.get() ?? body.initialPose.position;\n      const rotation =\n        target.rotationDegrees?.get() ?? body.initialPose.rotationDegrees;\n      if (\n        (position &&\n          (position[0] !== pose.position[0] ||\n            position[1] !== pose.position[1])) ||\n        (rotation !== undefined && rotation !== pose.rotationDegrees)\n      )\n        return true;\n    }\n    const bodies = this.kernel.bodies;\n    for (const body of this.acceptedBodies) {\n      const identity = this.kernel.bodyIdentity(body.id);\n      if (identity === undefined) continue;\n      const index = identity.index;\n      const flags = bodies.flags[index]!;\n      if (\n        (flags & BODY_TYPE_KINEMATIC_2D) !== 0 &&\n        (bodies.linearVelocityX[index]! !== 0 ||\n          bodies.linearVelocityY[index]! !== 0 ||\n          bodies.angularVelocity[index]! !== 0)\n      )\n        return true;\n      if (\n        (flags & BODY_TYPE_DYNAMIC_2D) !== 0 &&\n        (flags & BODY_SLEEPING_2D) === 0\n      )\n        return true;\n    }\n    return false;\n  }\n\n  private requireDraft(): RenderDraft2D {\n    const draft = this.draft;\n    if (draft === undefined) {\n      throw new Error(\n        \"A physics attachment requires an active PhysicsWorld2D render draft.\",\n      );\n    }\n    return draft;\n  }\n\n  private allocateId(): number {\n    if (this.nextId === Number.MAX_SAFE_INTEGER) {\n      throw new Error(\"PhysicsWorld2D exhausted stable attachment identities.\");\n    }\n    return this.nextId++;\n  }\n\n  private assertActive(): void {\n    if (!this.active) {\n      throw new TypeError(\"Expected a live Pibbl physics 2D world handle.\");\n    }\n  }\n\n  private materializeRevision(): WritableSignal<number> {\n    return (this.revision ??= signal(this.committedRevision, {\n      debugName: \"PhysicsWorld2D.revision\",\n    }));\n  }\n\n  /** Query handles are cached only while their kernel identity remains live. */\n  private evictRetiredMaterializedHandles(): void {\n    for (const [key, handle] of this.materializedBodyHandles) {\n      const separator = key.indexOf(\":\");\n      const index = Number(key.slice(0, separator));\n      const generation = Number(key.slice(separator + 1));\n      if (this.kernel.bodyIdForIdentity(index, generation) !== undefined)\n        continue;\n      const binding = physicsBodyHandleBinding2D(handle);\n      if (binding?.controller === this) {\n        unbindPhysicsBodyHandle2D(\n          handle,\n          this,\n          binding.bodyId,\n          binding.bindingGeneration,\n        );\n      }\n      this.materializedBodyHandles.delete(key);\n    }\n    for (const [key, handle] of this.materializedColliderHandles) {\n      const identity = physicsColliderHandleIdentity2D(handle);\n      if (\n        identity?.controller === this &&\n        this.kernel.colliderIdForIdentity(\n          identity.index,\n          identity.generation,\n        ) !== undefined\n      )\n        continue;\n      this.materializedColliderHandles.delete(key);\n    }\n  }\n\n  private materializeBodyHandle(\n    index: number,\n    generation: number,\n  ): PibblPhysicsBodyHandle2D {\n    const bodyId = this.kernel.bodyIdForIdentity(index, generation);\n    if (bodyId === undefined) {\n      throw new Error(\n        \"Cannot materialize a stale physics 2D body query result.\",\n      );\n    }\n    const accepted = this.acceptedBodies.find((body) => body.id === bodyId);\n    const explicit = accepted?.descriptor.options.handle;\n    if (explicit !== undefined) return explicit;\n    const key = `${String(index)}:${String(generation)}`;\n    let handle = this.materializedBodyHandles.get(key);\n    if (handle === undefined) {\n      handle = createPhysicsBodyHandle2D(this.owner);\n      bindPhysicsBodyHandle2D(handle, this, bodyId);\n      this.materializedBodyHandles.set(key, handle);\n    }\n    return handle;\n  }\n\n  private materializeColliderHandle(\n    index: number,\n    generation: number,\n  ): PibblPhysicsColliderHandle2D {\n    if (this.kernel.colliderIdForIdentity(index, generation) === undefined) {\n      throw new Error(\n        \"Cannot materialize a stale physics 2D collider query result.\",\n      );\n    }\n    const key = `${String(index)}:${String(generation)}`;\n    let handle = this.materializedColliderHandles.get(key);\n    if (handle === undefined) {\n      handle = createPhysicsColliderHandle2D(this, index, generation);\n      this.materializedColliderHandles.set(key, handle);\n    }\n    return handle;\n  }\n\n  private resolveBodyHandle(\n    handle: PibblPhysicsBodyHandle2D,\n  ): Readonly<{ index: number; generation: number }> | null {\n    const binding = physicsBodyHandleBinding2D(handle);\n    if (binding?.controller !== this) return null;\n    return this.kernel.bodyIdentity(binding.bodyId) ?? null;\n  }\n\n  private resolveColliderHandle(\n    handle: PibblPhysicsColliderHandle2D,\n  ): Readonly<{ index: number; generation: number }> | null {\n    const identity = physicsColliderHandleIdentity2D(handle);\n    if (identity?.controller !== this) return null;\n    return this.kernel.colliderIdForIdentity(\n      identity.index,\n      identity.generation,\n    ) === undefined\n      ? null\n      : identity;\n  }\n\n  private unbindBodyHandle(body: AcceptedBody2D): void {\n    const handle = body.descriptor.options.handle;\n    const generation = body.handleBindingGeneration;\n    if (handle !== undefined && generation !== undefined) {\n      unbindPhysicsBodyHandle2D(handle, this, body.id, generation);\n    }\n  }\n}\n\nexport function requirePhysicsWorld2DController(\n  handle: PibblPhysicsWorldHandle2D,\n): PhysicsWorld2DController {\n  const controller = (handle as Partial<InternalWorldHandle2D>)[\n    worldController2DSymbol\n  ];\n  if (!(controller instanceof PhysicsWorld2DController)) {\n    throw new TypeError(\"Expected a live Pibbl physics 2D world handle.\");\n  }\n  return controller;\n}\n\nexport function snapshotPhysicsWorld2DControllerForTest(\n  controller: PhysicsWorld2DController,\n): PhysicsWorld2DControllerSnapshot {\n  return controller.snapshot();\n}\n\nfunction normalizeWorldConfiguration(\n  props: PibblResolvedPhysicsWorld2DProps,\n): NormalizedPhysicsWorld2DConfiguration {\n  return normalizePhysicsWorld2DConfiguration({\n    gravity: props.gravity,\n    fixedStepMilliseconds: props.fixedStepMilliseconds,\n    maxCatchUpSteps: props.maxCatchUpSteps,\n    interpolation: props.interpolation,\n    sleeping: props.sleeping,\n    solver: props.solver,\n  });\n}\n\nfunction denormalizeWorldConfiguration(\n  configuration: NormalizedPhysicsWorld2DConfiguration,\n): PhysicsWorld2DConfiguration {\n  return Object.freeze({\n    gravity: Object.freeze([\n      configuration.gravityX,\n      configuration.gravityY,\n    ] as const),\n    fixedStepMilliseconds: configuration.fixedStepMilliseconds,\n    maxCatchUpSteps: configuration.maxCatchUpSteps,\n    interpolation: configuration.interpolation,\n    sleeping: configuration.sleeping,\n    solver: Object.freeze({\n      velocityIterations: configuration.velocityIterations,\n      positionIterations: configuration.positionIterations,\n    }),\n  });\n}\n\nfunction materializeTopology(\n  draft: RenderDraft2D,\n  reenableVelocities: ReadonlyMap<number, BodyVelocity2D>,\n  previousBodyDefinitions: ReadonlyMap<number, BodyDefinition2D>,\n): readonly PhysicsTopologyRecord2D[] {\n  const collidersByBody = new Map<number, ColliderDraft2D[]>();\n  for (const collider of draft.colliders.values()) {\n    const entries = collidersByBody.get(collider.bodyId) ?? [];\n    entries.push(collider);\n    collidersByBody.set(collider.bodyId, entries);\n  }\n  const bodies = [...draft.bodies.values()]\n    .sort((left, right) => left.id - right.id)\n    .map((body): PhysicsBodyTopologyRecord2D =>\n      Object.freeze({\n        kind: \"body\",\n        id: body.id,\n        definition: bodyDefinition(\n          body,\n          collidersByBody.get(body.id) ?? [],\n          reenableVelocities.get(body.id),\n          previousBodyDefinitions.get(body.id),\n        ),\n      }),\n    );\n  const colliders = [...draft.colliders.values()]\n    .sort((left, right) => left.id - right.id)\n    .map((collider): PhysicsColliderTopologyRecord2D =>\n      Object.freeze({\n        kind: \"collider\",\n        id: collider.id,\n        bodyId: collider.bodyId,\n        definition: Object.freeze({\n          shape: collider.shape,\n          material: Object.freeze({\n            friction: collider.options.friction,\n            restitution: collider.options.restitution,\n          }),\n          filter: collider.options.collisionFilter,\n          tag: collider.options.tag,\n          handlers: collider.options.handlers,\n          owner: collider.attachment,\n          flags: collider.options.sensor ? COLLIDER_SENSOR_2D : 0,\n        }),\n      }),\n    );\n  return Object.freeze([...bodies, ...colliders]);\n}\n\nfunction validateAutomaticMass(draft: RenderDraft2D): void {\n  const massByBody = new Map<number, number>();\n  for (const collider of draft.colliders.values()) {\n    if (!collider.options.contributesToMass) continue;\n    massByBody.set(\n      collider.bodyId,\n      (massByBody.get(collider.bodyId) ?? 0) +\n        collider.shape.area * collider.options.density,\n    );\n  }\n  for (const body of draft.bodies.values()) {\n    if (\n      body.descriptor.bodyType !== \"dynamic\" ||\n      !body.descriptor.options.enabled ||\n      body.descriptor.options.mass !== \"auto\"\n    ) {\n      continue;\n    }\n    if ((massByBody.get(body.id) ?? 0) <= 0) {\n      throw new RangeError(\n        \"A dynamic body with automatic mass requires positive derived area from at least one active mass-contributing collider.\",\n      );\n    }\n  }\n}\n\nfunction bodyDefinition(\n  body: BodyDraft2D,\n  colliders: readonly ColliderDraft2D[],\n  reenableVelocity?: BodyVelocity2D,\n  previous?: BodyDefinition2D,\n): BodyDefinition2D {\n  const descriptor = body.descriptor;\n  const enabled = descriptor.options.enabled;\n  const massData = compoundMassData(colliders);\n  let flags = 0;\n  let linearVelocityX = 0;\n  let linearVelocityY = 0;\n  let angularVelocity = 0;\n  let linearDamping = 0;\n  let angularDamping = 0;\n  let gravityScale = 0;\n  let inverseMass = 0;\n  let inverseInertia = 0;\n  let localCenterX = 0;\n  let localCenterY = 0;\n  if (enabled && descriptor.bodyType === \"dynamic\") {\n    flags |= BODY_TYPE_DYNAMIC_2D;\n    if (descriptor.options.fixedRotation) flags |= BODY_FIXED_ROTATION_2D;\n    if (!descriptor.options.allowSleep) flags |= BODY_SLEEP_DISABLED_2D;\n    if (descriptor.options.ccd) flags |= BODY_CCD_2D;\n    linearVelocityX =\n      reenableVelocity?.linearVelocityX ?? descriptor.options.linearVelocity[0];\n    linearVelocityY =\n      reenableVelocity?.linearVelocityY ?? descriptor.options.linearVelocity[1];\n    angularVelocity =\n      reenableVelocity?.angularVelocity ??\n      (descriptor.options.angularVelocityDegreesPerSecond * Math.PI) / 180;\n    linearDamping = descriptor.options.linearDamping;\n    angularDamping = descriptor.options.angularDamping;\n    gravityScale = descriptor.options.gravityScale;\n    const mass =\n      descriptor.options.mass === \"auto\"\n        ? massData.mass\n        : descriptor.options.mass;\n    inverseMass = mass > 0 ? 1 / mass : 1;\n    localCenterX = massData.centerX;\n    localCenterY = massData.centerY;\n    const inertia =\n      massData.mass > 0 ? massData.inertia * (mass / massData.mass) : 0;\n    inverseInertia = descriptor.options.fixedRotation\n      ? 0\n      : inertia > 0\n        ? 1 / inertia\n        : inverseMass;\n  } else if (enabled && descriptor.bodyType === \"kinematic\") {\n    flags |= BODY_TYPE_KINEMATIC_2D;\n    if (!descriptor.options.allowSleep) flags |= BODY_SLEEP_DISABLED_2D;\n  }\n  const authoredRotationRadians =\n    (body.initialPose.rotationDegrees * Math.PI) / 180;\n  const previousKinematic =\n    previous !== undefined && (previous.flags & BODY_TYPE_KINEMATIC_2D) !== 0\n      ? previous\n      : undefined;\n  const preserveTargetBoundKinematicPose =\n    descriptor.bodyType === \"kinematic\" &&\n    (descriptor.options.target.position !== undefined ||\n      descriptor.options.target.rotationDegrees !== undefined) &&\n    previousKinematic !== undefined;\n  const previousRotationRadians = previousKinematic?.rotationRadians ?? 0;\n  const previousCosine = Math.cos(previousRotationRadians);\n  const previousSine = Math.sin(previousRotationRadians);\n  const previousOriginX =\n    previousKinematic === undefined\n      ? 0\n      : previousKinematic.positionX -\n        previousCosine * (previousKinematic.localCenterX ?? 0) +\n        previousSine * (previousKinematic.localCenterY ?? 0);\n  const previousOriginY =\n    previousKinematic === undefined\n      ? 0\n      : previousKinematic.positionY -\n        previousSine * (previousKinematic.localCenterX ?? 0) -\n        previousCosine * (previousKinematic.localCenterY ?? 0);\n  const positionX = preserveTargetBoundKinematicPose\n    ? previousOriginX\n    : body.initialPose.position[0];\n  const positionY = preserveTargetBoundKinematicPose\n    ? previousOriginY\n    : body.initialPose.position[1];\n  const effectiveRotationRadians = preserveTargetBoundKinematicPose\n    ? previousKinematic!.rotationRadians\n    : authoredRotationRadians;\n  const cosine = Math.cos(effectiveRotationRadians);\n  const sine = Math.sin(effectiveRotationRadians);\n  return Object.freeze({\n    positionX: positionX + cosine * localCenterX - 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sine * shape.centroidY;\n      const centerY =\n        shape.localPose.y + sine * shape.centroidX + cosine * shape.centroidY;\n      return {\n        mass: shape.area * collider.options.density,\n        centerX,\n        centerY,\n        centroidInertia: shape.unitInertia * collider.options.density,\n      };\n    });\n  const mass = entries.reduce((sum, entry) => sum + entry.mass, 0);\n  if (mass <= 0) {\n    return { mass: 0, centerX: 0, centerY: 0, inertia: 0 };\n  }\n  const centerX =\n    entries.reduce((sum, entry) => sum + entry.mass * entry.centerX, 0) / mass;\n  const centerY =\n    entries.reduce((sum, entry) => sum + entry.mass * entry.centerY, 0) / mass;\n  const inertia = entries.reduce((sum, entry) => {\n    const offsetX = entry.centerX - centerX;\n    const offsetY = entry.centerY - centerY;\n    return (\n      sum +\n      entry.centroidInertia +\n      entry.mass * (offsetX * offsetX + offsetY * offsetY)\n    );\n  }, 0);\n  return { mass, centerX, centerY, inertia };\n}\n\nfunction sameConfiguration(\n  left: NormalizedPhysicsWorld2DConfiguration,\n  right: NormalizedPhysicsWorld2DConfiguration,\n): boolean {\n  return (\n    left.gravityX === right.gravityX &&\n    left.gravityY === right.gravityY &&\n    left.fixedStepMilliseconds === right.fixedStepMilliseconds &&\n    left.maxCatchUpSteps === right.maxCatchUpSteps &&\n    left.interpolation === right.interpolation &&\n    left.sleeping === right.sleeping &&\n    left.velocityIterations === right.velocityIterations &&\n    left.positionIterations === right.positionIterations\n  );\n}\n\nfunction copyPhysicsPose2D(pose: PibblPhysicsPose2D): PibblPhysicsPose2D {\n  return Object.freeze({\n    position: copyFiniteVector2(pose.position, \"initial physics pose.position\"),\n    rotationDegrees: requireFiniteNumber(\n      pose.rotationDegrees,\n      \"initial physics pose.rotationDegrees\",\n    ),\n  });\n}\n\nfunction sameTopology(\n  left: readonly PhysicsTopologyRecord2D[],\n  right: readonly PhysicsTopologyRecord2D[],\n): boolean {\n  if (left.length !== right.length) return false;\n  return left.every((first, index) => {\n    const second = right[index];\n    if (!second || first.kind !== second.kind || first.id !== second.id)\n      return false;\n    if (first.kind === \"body\" && second.kind === \"body\") {\n      return sameRecord(first.definition, second.definition);\n    }\n    if (first.kind === \"collider\" && second.kind === \"collider\") {\n      return (\n        first.bodyId === second.bodyId &&\n        first.definition.shape === second.definition.shape &&\n        first.definition.flags === second.definition.flags &&\n        sameRecord(first.definition.material, second.definition.material) &&\n        sameRecord(first.definition.filter, second.definition.filter)\n      );\n    }\n    return false;\n  });\n}\n\nfunction sameRecord(left: unknown, right: unknown): boolean {\n  if (left === right) return true;\n  if (\n    typeof left !== \"object\" ||\n    left === null ||\n    typeof right !== \"object\" ||\n    right === null\n  )\n    return false;\n  const leftEntries = Object.entries(left);\n  const rightRecord = right as Record<string, unknown>;\n  return (\n    leftEntries.length === Object.keys(rightRecord).length &&\n    leftEntries.every(([key, value]) => rightRecord[key] === value)\n  );\n}\n\nfunction validateUniqueBodyHandles(bodies: readonly BodyDraft2D[]): void {\n  const ids = new Map<PibblPhysicsBodyHandle2D, number>();\n  for (const body of bodies) {\n    const handle = body.descriptor.options.handle;\n    if (handle === undefined) continue;\n    const previous = ids.get(handle);\n    if (previous !== undefined && previous !== body.id) {\n      throw new Error(\n        \"A Pibbl physics 2D body handle may bind to at most one live body.\",\n      );\n    }\n    ids.set(handle, body.id);\n  }\n}\n\nfunction eventHandlerName(\n  kind: PhysicsContactEventDelivery2D[\"kind\"],\n): keyof NormalizedPhysicsColliderConfiguration2D[\"handlers\"] {\n  switch (kind) {\n    case 1:\n      return \"onCollisionStart\";\n    case 2:\n      return \"onCollisionEnd\";\n    case 3:\n      return \"onOverlapStart\";\n    case 4:\n      return \"onOverlapEnd\";\n    case 7:\n      return \"onHit\";\n  }\n}\n\nconst ZERO_POSE_2D: PibblPhysicsPose2D = Object.freeze({\n  position: Object.freeze([0, 0] as const),\n  rotationDegrees: 0,\n});\n"],
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+  "sourcesContent": ["import type { QueryMode, QueryOptions, QueryResult } from '../query-types.js';\nimport { CommittedObstacles2D } from \"./obstacles.js\";\nimport { boundsOfShape2D } from \"../../../2d-geometry.js\";\nimport { createShape2D } from \"../shape-records.js\";\nimport type {\n  PibblPhysicsBodyInspection2D,\n  PibblPhysicsInspection2D,\n} from \"../inspection-types.js\";\nimport { RapierSimulation2D } from \"../world/rapier.js\";\nimport { signal, type WritableSignal } from \"@pibbl/core\";\nimport {\n  pibblInternalOnSimulationRenderTransactionFinish,\n  pibblInternalCreateSignalConsumer,\n  pibblInternalCurrentRenderOwner,\n  type PibblInternalSignalConsumer,\n  pibblInternalQueueSimulationBegin,\n  pibblInternalQueueSimulationCommitAcknowledgement,\n  pibblInternalQueueSimulationComplete,\n  pibblInternalRegisterSimulationAdvance,\n  pibblInternalRequestSimulationRender,\n  type PibblInternalSignalBatch,\n  type PibblInternalSimulationOwner,\n} from \"@pibbl/core/internal\";\nimport type {\n  PibblPhysicsAabb2D,\n  PibblPhysicsPose2D,\n  PibblPhysicsRay2D,\n  PibblPhysicsShape2D,\n  PibblPhysicsVector2,\n} from \"../../../2d-geometry.js\";\nimport type { ShapeRecord2D } from \"../shape-records.js\";\nimport type {\n  PibblPhysicsBodyHandle2D,\n  PibblPhysicsColliderHandle2D,\n  PibblPhysicsQueryHit2D,\n  PibblPhysicsQueryMatch2D,\n  PibblPhysicsWorldHandle2D,\n} from \"../types.js\";\nimport type { PibblResolvedPhysicsWorld2DProps } from \"./world-props.js\";\nimport { BODY_CCD_2D } from \"../world/ccd.js\";\nimport { COLLIDER_SENSOR_2D } from \"../world/contact-cache.js\";\nimport {\n  BODY_FIXED_ROTATION_2D,\n  BODY_TYPE_DYNAMIC_2D,\n  BODY_TYPE_KINEMATIC_2D,\n} from \"../world/integrator.js\";\nimport { BODY_SLEEP_DISABLED_2D, BODY_SLEEPING_2D } from \"../world/solver.js\";\nimport type { BodyDefinition2D } from \"../world/storage.js\";\nimport {\n  copyFiniteVector2,\n  requireFiniteNumber,\n} from \"../../shared/validation.js\";\nimport {\n  normalizePhysicsWorld2DConfiguration,\n  PhysicsWorld2DKernel,\n  type NormalizedPhysicsWorld2DConfiguration,\n  type PhysicsBodyTopologyRecord2D,\n  type PhysicsBodyCommand2D,\n  type PhysicsColliderTopologyRecord2D,\n  type PhysicsCommand2D,\n  type PhysicsWorld2DConfiguration,\n  type PhysicsTopologyRecord2D,\n  type PhysicsWorld2DCandidate,\n} from \"../world/world.js\";\nimport { CommittedWorldQueries2D } from \"../world/queries.js\";\nimport {\n  bindPhysicsBodyHandle2D,\n  createPhysicsBodyHandle2D,\n  physicsBodyHandleBinding2D,\n  stagePhysicsBodyHandle2D,\n  type PhysicsBodyHandleValues2D,\n  unbindPhysicsBodyHandle2D,\n} from \"./body-handle.js\";\nimport {\n  createPhysicsColliderHandle2D,\n  isPhysicsBodyEventDelivery2D,\n  materializePhysicsBodyEvent2D,\n  materializePhysicsContactEvent2D,\n  physicsColliderHandleIdentity2D,\n  sortPhysicsEventDeliveries2D,\n  type PhysicsBodyEventDelivery2D,\n  type PhysicsContactEventDelivery2D,\n  type PhysicsEventDelivery2D,\n} from \"./events.js\";\nimport {\n  type MountedPhysicsAttachment2D,\n  type NormalizedPhysicsColliderConfiguration2D,\n  type PhysicsBodyAttachment2DDescriptor,\n} from \"./descriptors.js\";\n\nconst worldController2DSymbol = Symbol(\"PhysicsWorld2DController\");\n\ntype InternalWorldHandle2D = PibblPhysicsWorldHandle2D &\n  Readonly<{\n    readonly [worldController2DSymbol]: PhysicsWorld2DController;\n  }>;\n\ninterface BodyDraft2D {\n  readonly id: number;\n  readonly attachment: MountedPhysicsAttachment2D;\n  readonly descriptor: PhysicsBodyAttachment2DDescriptor;\n  readonly initialPose: PibblPhysicsPose2D;\n}\n\ninterface ColliderDraft2D {\n  readonly id: number;\n  readonly bodyId: number;\n  readonly attachment: MountedPhysicsAttachment2D;\n  readonly options: NormalizedPhysicsColliderConfiguration2D;\n  readonly shape: ShapeRecord2D;\n}\n\ninterface RenderDraft2D {\n  readonly simulationToRoot: DOMMatrix;\n  readonly configuration: NormalizedPhysicsWorld2DConfiguration;\n  readonly props: PibblResolvedPhysicsWorld2DProps;\n  readonly bodies: Map<number, BodyDraft2D>;\n  readonly colliders: Map<number, ColliderDraft2D>;\n}\n\ninterface AcceptedBody2D {\n  readonly id: number;\n  readonly attachment: MountedPhysicsAttachment2D;\n  readonly descriptor: PhysicsBodyAttachment2DDescriptor;\n  readonly initialPose: PibblPhysicsPose2D;\n  readonly handleBindingGeneration: number | undefined;\n}\n\ninterface AcceptedCollider2D {\n  readonly id: number;\n  readonly bodyId: number;\n  readonly attachment: MountedPhysicsAttachment2D;\n  readonly options: NormalizedPhysicsColliderConfiguration2D;\n}\n\ninterface AttachmentIds2D {\n  bodyId?: number;\n  colliderId?: number;\n}\n\ninterface BodyVelocity2D {\n  readonly linearVelocityX: number;\n  readonly linearVelocityY: number;\n  readonly angularVelocity: number;\n}\n\nexport interface PhysicsWorld2DControllerSnapshot {\n  readonly revision: number;\n  readonly revisionMaterialized: boolean;\n  readonly materializedBodyHandles: number;\n  readonly materializedColliderHandles: number;\n  readonly advanceRegistered: boolean;\n  readonly bodyIds: readonly number[];\n  readonly colliderIds: readonly number[];\n  readonly kernel: ReturnType<PhysicsWorld2DKernel[\"snapshot\"]>;\n}\n\nexport class PhysicsWorld2DController {\n  readonly handle: PibblPhysicsWorldHandle2D;\n  private revision: WritableSignal<number> | undefined;\n  private committedRevision = 0;\n  private obstacles: CommittedObstacles2D | undefined;\n  private obstacleSource: Readonly<{ read(): Readonly<{ revision: number; boxes: Float64Array; ellipses: Float64Array; polygons: Float64Array }> }> | undefined;\n\n  getObstacleSource(): Readonly<{ read(): Readonly<{ revision: number; boxes: Float64Array; ellipses: Float64Array; polygons: Float64Array }> }> {\n    this.assertActive();\n    if (!this.obstacleSource) {\n      if (this.liveCandidate) throw new Error(\"Create physics obstacles before simulation Advance.\");\n      this.obstacles = new CommittedObstacles2D();\n      this.obstacles.publish(this.kernel, this.acceptedColliders, this.committedRevision);\n      this.obstacleSource = Object.freeze({ read: () => {\n        this.assertActive();\n        return this.obstacles!.read();\n      } });\n    }\n    return this.obstacleSource;\n  }\n  private failedFrames = 0;\n  private lastFailure: string | null = null;\n  private readonly kernel: PhysicsWorld2DKernel;\n  private readonly ids = new WeakMap<object, AttachmentIds2D>();\n  private nextId = 0;\n  private draft: RenderDraft2D | undefined;\n  private acceptedTopology: readonly PhysicsTopologyRecord2D[] = Object.freeze(\n    [],\n  );\n  private acceptedBodies: readonly AcceptedBody2D[] = Object.freeze([]);\n  private acceptedColliders: readonly AcceptedCollider2D[] = Object.freeze([]);\n  private acceptedConfiguration: NormalizedPhysicsWorld2DConfiguration;\n  private acceptedProps: PibblResolvedPhysicsWorld2DProps = Object.freeze({});\n  private readonly suspendedVelocities = new Map<number, BodyVelocity2D>();\n  private readonly materializedBodyHandles = new Map<\n    string,\n    PibblPhysicsBodyHandle2D\n  >();\n  private readonly materializedColliderHandles = new Map<\n    string,\n    PibblPhysicsColliderHandle2D\n  >();\n  private materializedHandleTopologyPending = false;\n  private readonly queries: CommittedWorldQueries2D;\n  private queuedBegin: Readonly<{ cancel(): void }> | undefined;\n  private releaseAdvance: (() => void) | undefined;\n  private readonly releasePassiveAdvance: () => void;\n  private liveCandidate: PhysicsWorld2DCandidate | undefined;\n  private active = true;\n  private readonly space: \"root\" | \"local\";\n  private simulationToRoot = new DOMMatrix();\n  private readonly targetConsumer: PibblInternalSignalConsumer;\n\n  constructor(\n    private readonly owner: PibblInternalSimulationOwner,\n    initialProps: PibblResolvedPhysicsWorld2DProps,\n  ) {\n    this.space = initialProps.space ?? \"root\";\n    if (this.space !== \"root\" && this.space !== \"local\")\n      throw new TypeError('PhysicsWorld2D space must be \"root\" or \"local\".');\n    this.targetConsumer = pibblInternalCreateSignalConsumer({\n      owner: pibblInternalCurrentRenderOwner(),\n      debugName: \"PhysicsWorld2D kinematic targets\",\n      invalidate: () => {\n        if (this.active) this.ensureAdvance();\n      },\n    });\n    const configuration = normalizeWorldConfiguration(initialProps);\n    this.kernel = new PhysicsWorld2DKernel(\n      denormalizeWorldConfiguration(configuration),\n      new RapierSimulation2D(),\n    );\n    // Idle worlds still observe animation's staged target in the same Advance\n    // phase, without keeping the host clock alive themselves.\n    this.releasePassiveAdvance = pibblInternalRegisterSimulationAdvance(\n      this.owner,\n      \"physics\",\n      (frame, batch) => {\n        if (this.releaseAdvance !== undefined) return;\n        const targets = this.readKinematicTargets(batch);\n        for (const [id, target] of targets) {\n          if (this.kernel.bodyIdentity(id) === undefined) continue;\n          const pose = this.kernel.authoritativePose(id);\n          if (\n            target.position[0] !== pose.position[0] ||\n            target.position[1] !== pose.position[1] ||\n            target.rotationDegrees !== pose.rotationDegrees\n          ) {\n            this.ensureAdvance();\n            this.advance(frame.frameId, frame.logicalTime, batch);\n            return;\n          }\n        }\n      },\n      false,\n    );\n    this.queries = new CommittedWorldQueries2D({\n      generation: 1,\n      bodies: this.kernel.bodies,\n      colliders: this.kernel.colliders,\n      broadPhase: this.kernel.broadPhase,\n      materializeBody: (index, generation) =>\n        this.materializeBodyHandle(index, generation),\n      materializeCollider: (index, generation) =>\n        this.materializeColliderHandle(index, generation),\n      resolveBody: (handle) => this.resolveBodyHandle(handle),\n      resolveCollider: (handle) => this.resolveColliderHandle(handle),\n    });\n    this.acceptedConfiguration = configuration;\n    const target = {\n      [worldController2DSymbol]: this,\n    } as Record<PropertyKey, unknown>;\n    Object.defineProperty(target, \"revision\", {\n      enumerable: true,\n      get: () => this.materializeRevision().asReadonly(),\n    });\n    this.handle = Object.freeze(target) as unknown as InternalWorldHandle2D;\n  }\n\n  beginRender(\n    props: PibblResolvedPhysicsWorld2DProps,\n    rootTransform = new DOMMatrix(),\n  ): void {\n    if ((props.space ?? \"root\") !== this.space)\n      throw new Error(\n        \"PhysicsWorld2D space is creation-only; remount the world with a new key to change it.\",\n      );\n    const simulationToRoot =\n      this.space === \"local\" ? rootTransform : new DOMMatrix();\n    const { a, b, c, d, e, f } = simulationToRoot;\n    if (\n      !(\n        Number.isFinite(a) &&\n        Number.isFinite(b) &&\n        Number.isFinite(c) &&\n        Number.isFinite(d) &&\n        Number.isFinite(e) &&\n        Number.isFinite(f)\n      ) ||\n      Math.abs(a * d - b * c) < 1e-10\n    )\n      throw new Error(\n        \"PhysicsWorld2D viewport transform must be finite and invertible.\",\n      );\n    this.assertActive();\n    if (this.draft !== undefined) {\n      throw new Error(\n        \"PhysicsWorld2D began a second render before finishing the first.\",\n      );\n    }\n    this.draft = {\n      simulationToRoot,\n      configuration: normalizeWorldConfiguration(props),\n      props,\n      bodies: new Map(),\n      colliders: new Map(),\n    };\n    pibblInternalOnSimulationRenderTransactionFinish(this.owner, (success) =>\n      this.finishRender(success),\n    );\n  }\n\n  simulationTransform(root: DOMMatrix): DOMMatrix {\n    return (this.draft?.simulationToRoot ?? this.simulationToRoot)\n      .inverse()\n      .multiply(root);\n  }\n\n  rootTransform(local: DOMMatrix): DOMMatrix {\n    return (this.draft?.simulationToRoot ?? this.simulationToRoot).multiply(\n      local,\n    );\n  }\n\n  convertPoint(point: PibblPhysicsVector2, toRoot: boolean): PibblPhysicsVector2 {\n    this.assertActive();\n    const value = copyFiniteVector2(point, \"point\");\n    const matrix = toRoot\n      ? this.simulationToRoot\n      : this.simulationToRoot.inverse();\n    return Object.freeze([\n      matrix.a * value[0] + matrix.c * value[1] + matrix.e,\n      matrix.b * value[0] + matrix.d * value[1] + matrix.f,\n    ]);\n  }\n\n  bodyIdFor(attachment: MountedPhysicsAttachment2D): number {\n    let ids = this.ids.get(attachment);\n    if (!ids) {\n      ids = {};\n      this.ids.set(attachment, ids);\n    }\n    return (ids.bodyId ??= this.allocateId());\n  }\n\n  colliderIdFor(attachment: MountedPhysicsAttachment2D): number {\n    let ids = this.ids.get(attachment);\n    if (!ids) {\n      ids = {};\n      this.ids.set(attachment, ids);\n    }\n    return (ids.colliderId ??= this.allocateId());\n  }\n\n  collectBody(\n    attachment: MountedPhysicsAttachment2D,\n    bodyId: number,\n    descriptor: PhysicsBodyAttachment2DDescriptor,\n    initialPose: PibblPhysicsPose2D = ZERO_POSE_2D,\n  ): void {\n    const draft = this.requireDraft();\n    draft.bodies.set(bodyId, {\n      id: bodyId,\n      attachment,\n      descriptor,\n      initialPose: copyPhysicsPose2D(initialPose),\n    });\n    const collider = descriptor.options.collider;\n    if (\n      collider !== false &&\n      collider.shape !== \"self\" &&\n      descriptor.options.enabled\n    ) {\n      const colliderId = this.colliderIdFor(attachment);\n      draft.colliders.set(colliderId, {\n        id: colliderId,\n        bodyId,\n        attachment,\n        options: collider,\n        shape: attachment.resolveShape(collider),\n      });\n    }\n  }\n\n  collectCollider(\n    attachment: MountedPhysicsAttachment2D,\n    bodyId: number,\n    options: NormalizedPhysicsColliderConfiguration2D,\n  ): void {\n    if (options.shape === \"self\") return;\n    const draft = this.requireDraft();\n    if (draft.bodies.get(bodyId)?.descriptor.options.enabled === false) return;\n    const colliderId = this.colliderIdFor(attachment);\n    draft.colliders.set(colliderId, {\n      id: colliderId,\n      bodyId,\n      attachment,\n      options,\n      shape: attachment.resolveShape(options),\n    });\n  }\n\n  queueCommands(commands: readonly PhysicsCommand2D[]): void {\n    this.assertActive();\n    if (commands.length === 0) return;\n    pibblInternalQueueSimulationBegin(this.owner, () => {\n      this.kernel.applyBegin(commands);\n    });\n    this.ensureAdvance();\n  }\n\n  acceptBodyHandleCommand(\n    handle: PibblPhysicsBodyHandle2D,\n    bindingGeneration: number,\n    command: PhysicsBodyCommand2D,\n  ): boolean {\n    if (!this.active) return false;\n    const binding = physicsBodyHandleBinding2D(handle);\n    const accepted = this.acceptedBodies.find(\n      (body) =>\n        body.id === command.bodyId &&\n        body.descriptor.options.handle === handle &&\n        body.handleBindingGeneration === bindingGeneration,\n    );\n    const identity = this.kernel.bodyIdentity(command.bodyId);\n    const materialized =\n      identity === undefined\n        ? undefined\n        : this.materializedBodyHandles.get(\n            `${String(identity.index)}:${String(identity.generation)}`,\n          );\n    if (\n      binding?.controller !== this ||\n      binding.bindingGeneration !== bindingGeneration ||\n      (accepted === undefined && materialized !== handle)\n    ) {\n      return false;\n    }\n    this.kernel.applyBegin([command]);\n    this.ensureAdvance();\n    return true;\n  }\n\n  presentationPose(bodyId: number): PibblPhysicsPose2D | undefined {\n    return this.kernel.bodyIdentity(bodyId) !== undefined\n      ? this.kernel.presentationPose(bodyId)\n      : undefined;\n  }\n\n  raycast<Mode extends QueryMode = \"closest\">(\n    ray: PibblPhysicsRay2D,\n    options?: QueryOptions<Mode>,\n  ): QueryResult<Mode, PibblPhysicsQueryHit2D> {\n    this.assertActive();\n    return this.queries.raycast(1, ray, options);\n  }\n\n  shapeCast<Mode extends QueryMode = \"closest\">(\n    shape: PibblPhysicsShape2D,\n    from: PibblPhysicsPose2D,\n    translation: PibblPhysicsVector2,\n    options?: QueryOptions<Mode>,\n  ): QueryResult<Mode, PibblPhysicsQueryHit2D> {\n    this.assertActive();\n    return this.queries.shapeCast(1, shape, from, translation, options);\n  }\n\n  overlapShape<Mode extends QueryMode = \"closest\">(\n    shape: PibblPhysicsShape2D,\n    pose: PibblPhysicsPose2D,\n    options?: QueryOptions<Mode>,\n  ): QueryResult<Mode, PibblPhysicsQueryMatch2D> {\n    this.assertActive();\n    return this.queries.overlapShape(1, shape, pose, options);\n  }\n\n  queryAabb<Mode extends QueryMode = \"closest\">(\n    bounds: PibblPhysicsAabb2D,\n    options?: QueryOptions<Mode>,\n  ): QueryResult<Mode, PibblPhysicsQueryMatch2D> {\n    this.assertActive();\n    return this.queries.queryAabb(1, bounds, options);\n  }\n\n  queryPoint<Mode extends QueryMode = \"closest\">(\n    point: PibblPhysicsVector2,\n    options?: QueryOptions<Mode>,\n  ): QueryResult<Mode, PibblPhysicsQueryMatch2D> {\n    this.assertActive();\n    return this.queries.queryPoint(1, point, options);\n  }\n\n  bodyHandleValues(bodyId: number): PhysicsBodyHandleValues2D | undefined {\n    if (!this.active) return undefined;\n    const identity = this.kernel.bodyIdentity(bodyId);\n    if (identity === undefined) return undefined;\n    const index = identity.index;\n    const bodies = this.kernel.bodies;\n    const state = {\n      linearVelocityX: bodies.linearVelocityX[index]!,\n      linearVelocityY: bodies.linearVelocityY[index]!,\n      angularVelocity: bodies.angularVelocity[index]!,\n      flags: bodies.flags[index]!,\n      generation: identity.generation,\n    };\n    const pose = this.kernel.authoritativePose(bodyId);\n    return Object.freeze({\n      position: pose.position,\n      rotationDegrees: pose.rotationDegrees,\n      linearVelocity: Object.freeze([\n        state.linearVelocityX,\n        state.linearVelocityY,\n      ] as const),\n      angularVelocityDegreesPerSecond: (state.angularVelocity * 180) / Math.PI,\n      sleeping: (state.flags & BODY_SLEEPING_2D) !== 0,\n      enabled: this.kernel.isBodyEnabled(bodyId),\n      generation: state.generation,\n    });\n  }\n\n  inspectBody(bodyId: number): PibblPhysicsBodyInspection2D | undefined {\n    if (!this.active) return undefined;\n    const identity = this.kernel.bodyIdentity(bodyId);\n    const declared = this.acceptedBodies.find((body) => body.id === bodyId);\n    if (identity === undefined || declared === undefined) return undefined;\n    const index = identity.index;\n    const bodies = this.kernel.bodies;\n    const flags = bodies.flags[index]!;\n    return Object.freeze({\n      id: bodyId,\n      generation: identity.generation,\n      type: declared.descriptor.bodyType,\n      enabled: this.kernel.isBodyEnabled(bodyId),\n      sleeping: !!(flags & BODY_SLEEPING_2D),\n      pose: this.kernel.authoritativePose(bodyId),\n      presentationPose: this.kernel.presentationPose(bodyId),\n      centerOfMass: Object.freeze([\n        bodies.positionX[index]!,\n        bodies.positionY[index]!,\n      ] as const),\n      linearVelocity: Object.freeze([\n        bodies.linearVelocityX[index]!,\n        bodies.linearVelocityY[index]!,\n      ] as const),\n      angularVelocityDegreesPerSecond:\n        (bodies.angularVelocity[index]! * 180) / Math.PI,\n      mass: bodies.inverseMass[index]! > 0 ? 1 / bodies.inverseMass[index]! : null,\n    });\n  }\n\n  dispose(): void {\n    if (!this.active) return;\n    this.active = false;\n    this.targetConsumer.dispose();\n    this.releasePassiveAdvance();\n    this.queuedBegin?.cancel();\n    this.queuedBegin = undefined;\n    this.releaseAdvance?.();\n    this.releaseAdvance = undefined;\n    if (this.liveCandidate !== undefined) {\n      this.kernel.discard(this.liveCandidate);\n      this.liveCandidate = undefined;\n    }\n    for (const body of this.acceptedBodies) this.unbindBodyHandle(body);\n    for (const handle of this.materializedBodyHandles.values()) {\n      const binding = physicsBodyHandleBinding2D(handle);\n      if (binding?.controller === this) {\n        unbindPhysicsBodyHandle2D(\n          handle,\n          this,\n          binding.bodyId,\n          binding.bindingGeneration,\n        );\n      }\n    }\n    this.materializedBodyHandles.clear();\n    this.materializedColliderHandles.clear();\n    this.materializedHandleTopologyPending = false;\n    this.obstacles = undefined;\n    this.obstacleSource = undefined;\n    this.kernel.dispose();\n    this.queries.invalidate();\n    this.acceptedBodies = Object.freeze([]);\n    this.acceptedColliders = Object.freeze([]);\n    this.draft = undefined;\n    this.suspendedVelocities.clear();\n  }\n\n  inspect(): PibblPhysicsInspection2D {\n    this.assertActive();\n    const snapshot = this.kernel.snapshot();\n    const vector = (x: number, y: number): PibblPhysicsVector2 =>\n      Object.freeze([x, y]);\n    const contacts = this.kernel.contacts;\n    const declaredTypes = new Map(\n      this.acceptedBodies.map((body) => [body.id, body.descriptor.bodyType]),\n    );\n    return Object.freeze({\n      engine: \"rapier-2d@0.21.0\",\n      space: this.space,\n      revision: this.committedRevision,\n      tick: snapshot.tick,\n      advancing: this.releaseAdvance !== undefined,\n      failedFrames: this.failedFrames,\n      lastFailure: this.lastFailure,\n      bodies: Object.freeze(\n        snapshot.bodies.map((body) =>\n          Object.freeze({\n            id: body.id,\n            generation: body.generation,\n            type: declaredTypes.get(body.id)!,\n            enabled: this.kernel.isBodyEnabled(body.id),\n            sleeping: !!(body.flags & BODY_SLEEPING_2D),\n            pose: this.kernel.authoritativePose(body.id),\n            presentationPose: this.kernel.presentationPose(body.id),\n            centerOfMass: vector(body.positionX, body.positionY),\n            linearVelocity: vector(body.linearVelocityX, body.linearVelocityY),\n            angularVelocityDegreesPerSecond:\n              (body.angularVelocity * 180) / Math.PI,\n            mass: body.inverseMass > 0 ? 1 / body.inverseMass : null,\n          }),\n        ),\n      ),\n      colliders: Object.freeze(\n        this.acceptedColliders.flatMap((collider) => {\n          const identity = this.kernel.colliderIdentity(collider.id);\n          if (!identity) return [];\n          const shape = this.kernel.colliders.shapes[identity.index]!;\n          return [\n            Object.freeze({\n              id: collider.id,\n              generation: identity.generation,\n              bodyId: collider.bodyId,\n              sensor: !!(\n                this.kernel.colliders.flags[identity.index]! &\n                COLLIDER_SENSOR_2D\n              ),\n              label:\n                typeof collider.options.tag === \"string\"\n                  ? collider.options.tag\n                  : null,\n              shapeKinds: Object.freeze(shape.leaves.map((leaf) => leaf.kind)),\n              bounds: boundsOfShape2D(\n                createShape2D(shape),\n                this.kernel.authoritativePose(collider.bodyId),\n              ),\n            }),\n          ];\n        }),\n      ),\n      contacts: Object.freeze(\n        Array.from(\n          { length: contacts.contactCount },\n          (_, index) => index,\n        ).flatMap((index) => {\n          const firstColliderId = this.kernel.colliderIdForIdentity(\n            contacts.firstColliderIndices[index]!,\n            contacts.firstColliderGenerations[index]!,\n          );\n          const secondColliderId = this.kernel.colliderIdForIdentity(\n            contacts.secondColliderIndices[index]!,\n            contacts.secondColliderGenerations[index]!,\n          );\n          if (firstColliderId === undefined || secondColliderId === undefined)\n            return [];\n          return [\n            Object.freeze({\n              firstColliderId,\n              secondColliderId,\n              sensor: contacts.sensorFlags[index] !== 0,\n              normal: vector(\n                contacts.normalX[index]!,\n                contacts.normalY[index]!,\n              ),\n              normalImpulse:\n                contacts.pointNormalImpulses[index * 2]! +\n                (contacts.pointCounts[index]! > 1\n                  ? contacts.pointNormalImpulses[index * 2 + 1]!\n                  : 0),\n              points: Object.freeze(\n                Array.from(\n                  { length: contacts.pointCounts[index]! },\n                  (_, point) => {\n                    const offset = index * 2 + point;\n                    return Object.freeze({\n                      pointOnFirst: vector(\n                        contacts.pointFirstX[offset]!,\n                        contacts.pointFirstY[offset]!,\n                      ),\n                      pointOnSecond: vector(\n                        contacts.pointSecondX[offset]!,\n                        contacts.pointSecondY[offset]!,\n                      ),\n                      separation: contacts.pointSeparations[offset]!,\n                    });\n                  },\n                ),\n              ),\n            }),\n          ];\n        }),\n      ),\n    });\n  }\n\n  snapshot(): PhysicsWorld2DControllerSnapshot {\n    return Object.freeze({\n      revision: this.committedRevision,\n      revisionMaterialized: this.revision !== undefined,\n      materializedBodyHandles: this.materializedBodyHandles.size,\n      materializedColliderHandles: this.materializedColliderHandles.size,\n      advanceRegistered: this.releaseAdvance !== undefined,\n      bodyIds: Object.freeze(\n        this.acceptedTopology\n          .filter(\n            (record): record is PhysicsBodyTopologyRecord2D =>\n              record.kind === \"body\",\n          )\n          .map((record) => record.id),\n      ),\n      colliderIds: Object.freeze(\n        this.acceptedTopology\n          .filter(\n            (record): record is PhysicsColliderTopologyRecord2D =>\n              record.kind === \"collider\",\n          )\n          .map((record) => record.id),\n      ),\n      kernel: this.kernel.snapshot(),\n    });\n  }\n\n  private finishRender(success: boolean): void {\n    const draft = this.draft;\n    this.draft = undefined;\n    if (!success || draft === undefined || !this.active) return;\n    validateAutomaticMass(draft);\n    const reenableVelocities = this.resolveReenableVelocities(draft);\n    const previousBodyDefinitions = new Map(\n      this.acceptedTopology\n        .filter(\n          (record): record is PhysicsBodyTopologyRecord2D =>\n            record.kind === \"body\",\n        )\n        .map((record) => [record.id, record.definition] as const),\n    );\n    const topology = materializeTopology(\n      draft,\n      reenableVelocities,\n      previousBodyDefinitions,\n    );\n    const topologyChanged = !sameTopology(this.acceptedTopology, topology);\n    const configurationChanged = !sameConfiguration(\n      this.acceptedConfiguration,\n      draft.configuration,\n    );\n    const nextBodies = [...draft.bodies.values()].sort(\n      (left, right) => left.id - right.id,\n    );\n    validateUniqueBodyHandles(nextBodies);\n    const nextBodiesById = new Map(nextBodies.map((body) => [body.id, body]));\n    for (const body of this.acceptedBodies) {\n      const next = nextBodiesById.get(body.id);\n      const retained =\n        next !== undefined &&\n        next.descriptor.options.handle === body.descriptor.options.handle;\n      if (!retained) this.unbindBodyHandle(body);\n    }\n    this.simulationToRoot = draft.simulationToRoot;\n    this.acceptedProps = draft.props;\n    this.acceptedBodies = Object.freeze(\n      nextBodies.map(({ id, attachment, descriptor, initialPose }) =>\n        Object.freeze({\n          id,\n          attachment,\n          descriptor,\n          initialPose,\n          handleBindingGeneration:\n            descriptor.options.handle === undefined\n              ? undefined\n              : bindPhysicsBodyHandle2D(descriptor.options.handle, this, id),\n        }),\n      ),\n    );\n    this.acceptedColliders = Object.freeze(\n      [...draft.colliders.values()]\n        .sort((left, right) => left.id - right.id)\n        .map(({ id, bodyId, attachment, options }) =>\n          Object.freeze({ id, bodyId, attachment, options }),\n        ),\n    );\n    this.targetConsumer.collect(() => {\n      for (const body of this.acceptedBodies) {\n        if (\n          body.descriptor.bodyType !== \"kinematic\" ||\n          !body.descriptor.options.enabled\n        )\n          continue;\n        body.descriptor.options.target.position?.get();\n        body.descriptor.options.target.rotationDegrees?.get();\n      }\n    });\n    this.targetConsumer.markClean();\n    this.acceptedTopology = topology;\n    this.kernel.updateColliderMetadata(topology);\n    if (topologyChanged) this.materializedHandleTopologyPending = true;\n    if (!topologyChanged && !configurationChanged) return;\n    this.acceptedConfiguration = draft.configuration;\n    this.queuedBegin?.cancel();\n    this.queuedBegin = pibblInternalQueueSimulationBegin(this.owner, () => {\n      this.queuedBegin = undefined;\n      if (topologyChanged) this.kernel.proposeTopology(this.acceptedTopology);\n      if (configurationChanged) {\n        this.kernel.applyBegin([\n          {\n            kind: \"configure\",\n            configuration: denormalizeWorldConfiguration(draft.configuration),\n          },\n        ]);\n      }\n    });\n    this.ensureAdvance();\n  }\n\n  private ensureAdvance(): void {\n    if (this.releaseAdvance !== undefined) return;\n    this.releaseAdvance = pibblInternalRegisterSimulationAdvance(\n      this.owner,\n      \"physics\",\n      (frame, batch) => this.advance(frame.frameId, frame.logicalTime, batch),\n    );\n  }\n\n  private resolveReenableVelocities(\n    draft: RenderDraft2D,\n  ): ReadonlyMap<number, BodyVelocity2D> {\n    const previousById = new Map(\n      this.acceptedBodies.map((body) => [body.id, body]),\n    );\n    const overrides = new Map<number, BodyVelocity2D>();\n    for (const body of draft.bodies.values()) {\n      const previous = previousById.get(body.id);\n      const currentDynamic =\n        body.descriptor.bodyType === \"dynamic\" ? body.descriptor : undefined;\n      const previousDynamic =\n        previous?.descriptor.bodyType === \"dynamic\"\n          ? previous.descriptor\n          : undefined;\n      if (\n        currentDynamic !== undefined &&\n        !currentDynamic.options.enabled &&\n        previousDynamic?.options.enabled\n      ) {\n        const identity = this.kernel.bodyIdentity(body.id);\n        if (identity !== undefined) {\n          const bodies = this.kernel.bodies;\n          this.suspendedVelocities.set(\n            body.id,\n            Object.freeze({\n              linearVelocityX: bodies.linearVelocityX[identity.index]!,\n              linearVelocityY: bodies.linearVelocityY[identity.index]!,\n              angularVelocity: bodies.angularVelocity[identity.index]!,\n            }),\n          );\n        }\n      }\n      if (\n        currentDynamic?.options.enabled &&\n        previousDynamic !== undefined &&\n        !previousDynamic.options.enabled\n      ) {\n        const preserved = this.suspendedVelocities.get(body.id);\n        overrides.set(\n          body.id,\n          currentDynamic.options.reenableVelocity === \"preserve\" && preserved\n            ? preserved\n            : ZERO_VELOCITY_2D,\n        );\n      }\n    }\n    const retained = new Set(draft.bodies.keys());\n    for (const id of this.suspendedVelocities.keys()) {\n      if (!retained.has(id)) this.suspendedVelocities.delete(id);\n    }\n    return overrides;\n  }\n\n  private advance(\n    frameId: number,\n    logicalTime: number,\n    batch: PibblInternalSignalBatch,\n  ): void {\n    let candidate: PhysicsWorld2DCandidate | undefined;\n    try {\n      candidate = this.kernel.advance({\n        frameId,\n        logicalTime,\n        stagedKinematicTargets: this.readKinematicTargets(batch),\n      });\n      if (candidate === undefined) return;\n      this.liveCandidate = candidate;\n      const nextRevision = this.committedRevision + 1;\n      this.stagePublicSignals(batch, nextRevision);\n      const events = this.copyEventDeliveries(candidate);\n      let adopted = false;\n      if (events.length > 0) {\n        pibblInternalQueueSimulationComplete(this.owner, () => {\n          if (adopted) this.deliverEvents(events);\n        });\n      }\n      pibblInternalQueueSimulationCommitAcknowledgement(\n        this.owner,\n        (_frame, outcome) => {\n          if (this.liveCandidate !== candidate) return;\n          this.liveCandidate = undefined;\n          if (!outcome.applied) {\n            this.kernel.discard(candidate!);\n            return;\n          }\n          this.kernel.adopt(candidate!);\n          if (this.materializedHandleTopologyPending) {\n            this.evictRetiredMaterializedHandles();\n            this.materializedHandleTopologyPending = false;\n          }\n          this.committedRevision = nextRevision;\n          this.obstacles?.publish(this.kernel, this.acceptedColliders, nextRevision);\n          adopted = true;\n          pibblInternalRequestSimulationRender(this.owner);\n          if (\n            !this.hasAwakeBodies() &&\n            (candidate!.stepCount > 0 ||\n              !this.acceptedBodies.some(\n                (body) => body.descriptor.bodyType === \"kinematic\",\n              ))\n          ) {\n            this.releaseAdvance?.();\n            this.releaseAdvance = undefined;\n          }\n        },\n      );\n    } catch (error) {\n      this.failedFrames++;\n      this.lastFailure = error instanceof Error ? error.message : String(error);\n      if (candidate?.lifecycle === \"live\") this.kernel.discard(candidate);\n      if (this.liveCandidate === candidate) this.liveCandidate = undefined;\n      const onError = this.acceptedProps.onError;\n      if (onError) {\n        pibblInternalQueueSimulationComplete(this.owner, () => onError(error));\n      }\n      throw error;\n    }\n  }\n\n  private readKinematicTargets(\n    batch: PibblInternalSignalBatch,\n  ): ReadonlyMap<number, PibblPhysicsPose2D> {\n    const targets = new Map<number, PibblPhysicsPose2D>();\n    for (const body of this.acceptedBodies) {\n      if (\n        body.descriptor.bodyType !== \"kinematic\" ||\n        !body.descriptor.options.enabled\n      )\n        continue;\n      const target = body.descriptor.options.target;\n      if (\n        target.position === undefined &&\n        target.rotationDegrees === undefined\n      ) {\n        continue;\n      }\n      const position =\n        target.position === undefined\n          ? body.initialPose.position\n          : batch.read(\n              target.position as WritableSignal<readonly [number, number]>,\n            );\n      const rotationDegrees =\n        target.rotationDegrees === undefined\n          ? body.initialPose.rotationDegrees\n          : batch.read(target.rotationDegrees as WritableSignal<number>);\n      targets.set(\n        body.id,\n        Object.freeze({\n          position: Object.freeze([position[0], position[1]] as const),\n          rotationDegrees,\n        }),\n      );\n    }\n    return targets;\n  }\n\n  private stagePublicSignals(\n    batch: PibblInternalSignalBatch,\n    nextRevision: number,\n  ): void {\n    if (this.revision !== undefined) {\n      batch.stage(this.revision, nextRevision, this);\n    }\n    const bodies = this.kernel.bodies;\n    for (const body of this.acceptedBodies) {\n      const identity = this.kernel.bodyIdentity(body.id);\n      if (identity === undefined) continue;\n      const explicit = body.descriptor.options.handle;\n      const materialized = this.materializedBodyHandles.get(\n        `${String(identity.index)}:${String(identity.generation)}`,\n      );\n      if (explicit === undefined && materialized === undefined) continue;\n      const pose = this.kernel.authoritativePose(body.id);\n      const values = {\n        position: pose.position,\n        rotationDegrees: pose.rotationDegrees,\n        linearVelocity: Object.freeze([\n          bodies.linearVelocityX[identity.index]!,\n          bodies.linearVelocityY[identity.index]!,\n        ] as const),\n        angularVelocityDegreesPerSecond:\n          (bodies.angularVelocity[identity.index]! * 180) / Math.PI,\n        sleeping: (bodies.flags[identity.index]! & BODY_SLEEPING_2D) !== 0,\n        enabled: this.kernel.isBodyEnabled(body.id),\n        generation: identity.generation,\n      } as const;\n      if (explicit !== undefined) {\n        stagePhysicsBodyHandle2D(batch, explicit, values, this);\n      }\n      if (materialized !== undefined && materialized !== explicit) {\n        stagePhysicsBodyHandle2D(batch, materialized, values, this);\n      }\n    }\n  }\n\n  private copyEventDeliveries(\n    candidate: PhysicsWorld2DCandidate,\n  ): readonly PhysicsEventDelivery2D[] {\n    const events: PhysicsEventDelivery2D[] = [];\n    for (let offset = 0; offset < candidate.eventCount; offset += 1) {\n      const eventIndex = candidate.eventOffset + offset;\n      const kind = candidate.eventKinds[eventIndex];\n      if (kind === 5 || kind === 6) {\n        const handler =\n          kind === 6 ? this.acceptedProps.onSleep : this.acceptedProps.onWake;\n        if (handler === undefined) continue;\n        const bodyIndex = candidate.eventFirstColliderIndices[eventIndex]!;\n        const bodyGeneration = this.kernel.bodies.generations[bodyIndex]!;\n        const bodyId = this.kernel.bodyIdForIdentity(bodyIndex, bodyGeneration);\n        if (bodyId === undefined) continue;\n        events.push(\n          Object.freeze({\n            kind,\n            tick: candidate.eventTicks[eventIndex]!,\n            bodyIndex,\n            bodyGeneration,\n            bodyId,\n            handler,\n          }) satisfies PhysicsBodyEventDelivery2D,\n        );\n        continue;\n      }\n      if (kind !== 1 && kind !== 2 && kind !== 3 && kind !== 4 && kind !== 7) {\n        continue;\n      }\n      this.copyContactEventDeliveries(candidate, eventIndex, kind, events);\n    }\n    return sortPhysicsEventDeliveries2D(events);\n  }\n\n  private copyContactEventDeliveries(\n    candidate: PhysicsWorld2DCandidate,\n    eventIndex: number,\n    kind: PhysicsContactEventDelivery2D[\"kind\"],\n    events: PhysicsEventDelivery2D[],\n  ): void {\n    const firstColliderIndex = candidate.eventFirstColliderIndices[eventIndex]!;\n    const firstColliderGeneration =\n      candidate.eventFirstColliderGenerations[eventIndex]!;\n    const secondColliderIndex =\n      candidate.eventSecondColliderIndices[eventIndex]!;\n    const secondColliderGeneration =\n      candidate.eventSecondColliderGenerations[eventIndex]!;\n    const first = this.acceptedColliderForIdentity(\n      firstColliderIndex,\n      firstColliderGeneration,\n    );\n    const second = this.acceptedColliderForIdentity(\n      secondColliderIndex,\n      secondColliderGeneration,\n    );\n    if (first === undefined || second === undefined) return;\n    const handlerName = eventHandlerName(kind);\n    const firstHandler = first.options.handlers[handlerName];\n    const secondHandler = second.options.handlers[handlerName];\n    if (firstHandler === undefined && secondHandler === undefined) return;\n    const firstBodyIdentity = this.kernel.bodyIdentity(first.bodyId);\n    const secondBodyIdentity = this.kernel.bodyIdentity(second.bodyId);\n    if (firstBodyIdentity === undefined || secondBodyIdentity === undefined)\n      return;\n    const points: Array<PhysicsContactEventDelivery2D[\"points\"][number]> = [];\n    const pointBase = eventIndex * 2;\n    for (\n      let point = 0;\n      point < candidate.eventPointCounts[eventIndex]!;\n      point += 1\n    ) {\n      points.push(\n        Object.freeze({\n          firstX: candidate.eventPointFirstX[pointBase + point]!,\n          firstY: candidate.eventPointFirstY[pointBase + point]!,\n          secondX: candidate.eventPointSecondX[pointBase + point]!,\n          secondY: candidate.eventPointSecondY[pointBase + point]!,\n          separation: candidate.eventPointSeparations[pointBase + point]!,\n        }),\n      );\n    }\n    const common = {\n      kind,\n      tick: candidate.eventTicks[eventIndex]!,\n      firstColliderIndex,\n      firstColliderGeneration,\n      secondColliderIndex,\n      secondColliderGeneration,\n      firstBodyIndex: firstBodyIdentity.index,\n      firstBodyGeneration: firstBodyIdentity.generation,\n      secondBodyIndex: secondBodyIdentity.index,\n      secondBodyGeneration: secondBodyIdentity.generation,\n      normalX: candidate.eventNormalX[eventIndex]!,\n      normalY: candidate.eventNormalY[eventIndex]!,\n      points: Object.freeze(points),\n      totalNormalImpulse: candidate.eventTotalNormalImpulses[eventIndex]!,\n    } as const;\n    if (firstHandler !== undefined) {\n      events.push(\n        Object.freeze({\n          ...common,\n          receiver: \"first\",\n          receiverColliderId: first.id,\n          receiverBodyId: first.bodyId,\n          handler: firstHandler,\n          selfTag: first.options.tag,\n          otherTag: second.options.tag,\n        }) as PhysicsContactEventDelivery2D,\n      );\n    }\n    if (secondHandler !== undefined) {\n      events.push(\n        Object.freeze({\n          ...common,\n          receiver: \"second\",\n          receiverColliderId: second.id,\n          receiverBodyId: second.bodyId,\n          handler: secondHandler,\n          selfTag: second.options.tag,\n          otherTag: first.options.tag,\n        }) as PhysicsContactEventDelivery2D,\n      );\n    }\n  }\n\n  private deliverEvents(events: readonly PhysicsEventDelivery2D[]): void {\n    if (!this.active) return;\n    const errors: unknown[] = [];\n    for (const fact of events) {\n      try {\n        if (isPhysicsBodyEventDelivery2D(fact)) {\n          const handler = this.bodyEventHandler(fact);\n          if (!handler) continue;\n          handler(\n            materializePhysicsBodyEvent2D(\n              fact,\n              this.materializeBodyHandle(fact.bodyIndex, fact.bodyGeneration),\n            ),\n          );\n          continue;\n        }\n        const handler = this.contactEventHandler(fact);\n        if (!handler) continue;\n        handler(\n          materializePhysicsContactEvent2D(fact, {\n            body: (index, generation) =>\n              this.materializeBodyHandle(index, generation),\n            collider: (index, generation) =>\n              this.materializeColliderHandle(index, generation),\n          }) as never,\n        );\n      } catch (error) {\n        errors.push(error);\n      }\n    }\n    if (errors.length === 1) throw errors[0];\n    if (errors.length > 1) {\n      throw new AggregateError(\n        errors,\n        \"Multiple physics 2D event callbacks failed.\",\n      );\n    }\n  }\n\n  private bodyEventHandler(\n    fact: PhysicsBodyEventDelivery2D,\n  ): PhysicsBodyEventDelivery2D[\"handler\"] | undefined {\n    const handler =\n      fact.kind === 6 ? this.acceptedProps.onSleep : this.acceptedProps.onWake;\n    const identity = this.kernel.bodyIdentity(fact.bodyId);\n    return identity?.index === fact.bodyIndex &&\n      identity.generation === fact.bodyGeneration\n      ? handler\n      : undefined;\n  }\n\n  private contactEventHandler(\n    fact: PhysicsContactEventDelivery2D,\n  ): PhysicsContactEventDelivery2D[\"handler\"] | undefined {\n    const receiver = this.acceptedColliders.find(\n      (collider) => collider.id === fact.receiverColliderId,\n    );\n    if (receiver === undefined || receiver.bodyId !== fact.receiverBodyId)\n      return undefined;\n    const handler = receiver.options.handlers[eventHandlerName(fact.kind)];\n    const colliderIdentity = this.kernel.colliderIdentity(receiver.id);\n    const expectedIndex =\n      fact.receiver === \"first\"\n        ? fact.firstColliderIndex\n        : fact.secondColliderIndex;\n    const expectedGeneration =\n      fact.receiver === \"first\"\n        ? fact.firstColliderGeneration\n        : fact.secondColliderGeneration;\n    return colliderIdentity?.index === expectedIndex &&\n      colliderIdentity.generation === expectedGeneration\n      ? handler\n      : undefined;\n  }\n\n  private acceptedColliderForIdentity(\n    index: number,\n    generation: number,\n  ): AcceptedCollider2D | undefined {\n    return this.acceptedColliders.find((collider) => {\n      const identity = this.kernel.colliderIdentity(collider.id);\n      return identity?.index === index && identity.generation === generation;\n    });\n  }\n\n  private hasAwakeBodies(): boolean {\n    for (const body of this.acceptedBodies) {\n      if (\n        body.descriptor.bodyType !== \"kinematic\" ||\n        !body.descriptor.options.enabled ||\n        this.kernel.bodyIdentity(body.id) === undefined\n      )\n        continue;\n      const pose = this.kernel.authoritativePose(body.id);\n      const target = body.descriptor.options.target;\n      const position = target.position?.get() ?? body.initialPose.position;\n      const rotation =\n        target.rotationDegrees?.get() ?? body.initialPose.rotationDegrees;\n      if (\n        (position &&\n          (position[0] !== pose.position[0] ||\n            position[1] !== pose.position[1])) ||\n        (rotation !== undefined && rotation !== pose.rotationDegrees)\n      )\n        return true;\n    }\n    const bodies = this.kernel.bodies;\n    for (const body of this.acceptedBodies) {\n      const identity = this.kernel.bodyIdentity(body.id);\n      if (identity === undefined) continue;\n      const index = identity.index;\n      const flags = bodies.flags[index]!;\n      if (\n        (flags & BODY_TYPE_KINEMATIC_2D) !== 0 &&\n        (bodies.linearVelocityX[index]! !== 0 ||\n          bodies.linearVelocityY[index]! !== 0 ||\n          bodies.angularVelocity[index]! !== 0)\n      )\n        return true;\n      if (\n        (flags & BODY_TYPE_DYNAMIC_2D) !== 0 &&\n        (flags & BODY_SLEEPING_2D) === 0\n      )\n        return true;\n    }\n    return false;\n  }\n\n  private requireDraft(): RenderDraft2D {\n    const draft = this.draft;\n    if (draft === undefined) {\n      throw new Error(\n        \"A physics attachment requires an active PhysicsWorld2D render draft.\",\n      );\n    }\n    return draft;\n  }\n\n  private allocateId(): number {\n    if (this.nextId === Number.MAX_SAFE_INTEGER) {\n      throw new Error(\"PhysicsWorld2D exhausted stable attachment identities.\");\n    }\n    return this.nextId++;\n  }\n\n  private assertActive(): void {\n    if (!this.active) {\n      throw new TypeError(\"Expected a live Pibbl physics 2D world handle.\");\n    }\n  }\n\n  private materializeRevision(): WritableSignal<number> {\n    return (this.revision ??= signal(this.committedRevision, {\n      debugName: \"PhysicsWorld2D.revision\",\n    }));\n  }\n\n  /** Query handles are cached only while their kernel identity remains live. */\n  private evictRetiredMaterializedHandles(): void {\n    for (const [key, handle] of this.materializedBodyHandles) {\n      const separator = key.indexOf(\":\");\n      const index = Number(key.slice(0, separator));\n      const generation = Number(key.slice(separator + 1));\n      if (this.kernel.bodyIdForIdentity(index, generation) !== undefined)\n        continue;\n      const binding = physicsBodyHandleBinding2D(handle);\n      if (binding?.controller === this) {\n        unbindPhysicsBodyHandle2D(\n          handle,\n          this,\n          binding.bodyId,\n          binding.bindingGeneration,\n        );\n      }\n      this.materializedBodyHandles.delete(key);\n    }\n    for (const [key, handle] of this.materializedColliderHandles) {\n      const identity = physicsColliderHandleIdentity2D(handle);\n      if (\n        identity?.controller === this &&\n        this.kernel.colliderIdForIdentity(\n          identity.index,\n          identity.generation,\n        ) !== undefined\n      )\n        continue;\n      this.materializedColliderHandles.delete(key);\n    }\n  }\n\n  private materializeBodyHandle(\n    index: number,\n    generation: number,\n  ): PibblPhysicsBodyHandle2D {\n    const bodyId = this.kernel.bodyIdForIdentity(index, generation);\n    if (bodyId === undefined) {\n      throw new Error(\n        \"Cannot materialize a stale physics 2D body query result.\",\n      );\n    }\n    const accepted = this.acceptedBodies.find((body) => body.id === bodyId);\n    const explicit = accepted?.descriptor.options.handle;\n    if (explicit !== undefined) return explicit;\n    const key = `${String(index)}:${String(generation)}`;\n    let handle = this.materializedBodyHandles.get(key);\n    if (handle === undefined) {\n      handle = createPhysicsBodyHandle2D(this.owner);\n      bindPhysicsBodyHandle2D(handle, this, bodyId);\n      this.materializedBodyHandles.set(key, handle);\n    }\n    return handle;\n  }\n\n  private materializeColliderHandle(\n    index: number,\n    generation: number,\n  ): PibblPhysicsColliderHandle2D {\n    if (this.kernel.colliderIdForIdentity(index, generation) === undefined) {\n      throw new Error(\n        \"Cannot materialize a stale physics 2D collider query result.\",\n      );\n    }\n    const key = `${String(index)}:${String(generation)}`;\n    let handle = this.materializedColliderHandles.get(key);\n    if (handle === undefined) {\n      handle = createPhysicsColliderHandle2D(this, index, generation);\n      this.materializedColliderHandles.set(key, handle);\n    }\n    return handle;\n  }\n\n  private resolveBodyHandle(\n    handle: PibblPhysicsBodyHandle2D,\n  ): Readonly<{ index: number; generation: number }> | null {\n    const binding = physicsBodyHandleBinding2D(handle);\n    if (binding?.controller !== this) return null;\n    return this.kernel.bodyIdentity(binding.bodyId) ?? null;\n  }\n\n  private resolveColliderHandle(\n    handle: PibblPhysicsColliderHandle2D,\n  ): Readonly<{ index: number; generation: number }> | null {\n    const identity = physicsColliderHandleIdentity2D(handle);\n    if (identity?.controller !== this) return null;\n    return this.kernel.colliderIdForIdentity(\n      identity.index,\n      identity.generation,\n    ) === undefined\n      ? null\n      : identity;\n  }\n\n  private unbindBodyHandle(body: AcceptedBody2D): void {\n    const handle = body.descriptor.options.handle;\n    const generation = body.handleBindingGeneration;\n    if (handle !== undefined && generation !== undefined) {\n      unbindPhysicsBodyHandle2D(handle, this, body.id, generation);\n    }\n  }\n}\n\nexport function requirePhysicsWorld2DController(\n  handle: PibblPhysicsWorldHandle2D,\n): PhysicsWorld2DController {\n  const controller = (handle as Partial<InternalWorldHandle2D>)[\n    worldController2DSymbol\n  ];\n  if (!(controller instanceof PhysicsWorld2DController)) {\n    throw new TypeError(\"Expected a live Pibbl physics 2D world handle.\");\n  }\n  return controller;\n}\n\nexport function snapshotPhysicsWorld2DControllerForTest(\n  controller: PhysicsWorld2DController,\n): PhysicsWorld2DControllerSnapshot {\n  return controller.snapshot();\n}\n\nfunction normalizeWorldConfiguration(\n  props: PibblResolvedPhysicsWorld2DProps,\n): NormalizedPhysicsWorld2DConfiguration {\n  return normalizePhysicsWorld2DConfiguration({\n    gravity: props.gravity,\n    fixedStepMilliseconds: props.fixedStepMilliseconds,\n    maxCatchUpSteps: props.maxCatchUpSteps,\n    interpolation: props.interpolation,\n    sleeping: props.sleeping,\n    solver: props.solver,\n  });\n}\n\nfunction denormalizeWorldConfiguration(\n  configuration: NormalizedPhysicsWorld2DConfiguration,\n): PhysicsWorld2DConfiguration {\n  return Object.freeze({\n    gravity: Object.freeze([\n      configuration.gravityX,\n      configuration.gravityY,\n    ] as const),\n    fixedStepMilliseconds: configuration.fixedStepMilliseconds,\n    maxCatchUpSteps: configuration.maxCatchUpSteps,\n    interpolation: configuration.interpolation,\n    sleeping: configuration.sleeping,\n    solver: Object.freeze({\n      velocityIterations: configuration.velocityIterations,\n      positionIterations: configuration.positionIterations,\n    }),\n  });\n}\n\nfunction materializeTopology(\n  draft: RenderDraft2D,\n  reenableVelocities: ReadonlyMap<number, BodyVelocity2D>,\n  previousBodyDefinitions: ReadonlyMap<number, BodyDefinition2D>,\n): readonly PhysicsTopologyRecord2D[] {\n  const collidersByBody = new Map<number, ColliderDraft2D[]>();\n  for (const collider of draft.colliders.values()) {\n    const entries = collidersByBody.get(collider.bodyId) ?? [];\n    entries.push(collider);\n    collidersByBody.set(collider.bodyId, entries);\n  }\n  const bodies = [...draft.bodies.values()]\n    .sort((left, right) => left.id - right.id)\n    .map((body): PhysicsBodyTopologyRecord2D =>\n      Object.freeze({\n        kind: \"body\",\n        id: body.id,\n        definition: bodyDefinition(\n          body,\n          collidersByBody.get(body.id) ?? [],\n          reenableVelocities.get(body.id),\n          previousBodyDefinitions.get(body.id),\n        ),\n      }),\n    );\n  const colliders = [...draft.colliders.values()]\n    .sort((left, right) => left.id - right.id)\n    .map((collider): PhysicsColliderTopologyRecord2D =>\n      Object.freeze({\n        kind: \"collider\",\n        id: collider.id,\n        bodyId: collider.bodyId,\n        definition: Object.freeze({\n          shape: collider.shape,\n          material: Object.freeze({\n            friction: collider.options.friction,\n            restitution: collider.options.restitution,\n          }),\n          filter: collider.options.collisionFilter,\n          tag: collider.options.tag,\n          handlers: collider.options.handlers,\n          owner: collider.attachment,\n          flags: collider.options.sensor ? COLLIDER_SENSOR_2D : 0,\n        }),\n      }),\n    );\n  return Object.freeze([...bodies, ...colliders]);\n}\n\nfunction validateAutomaticMass(draft: RenderDraft2D): void {\n  const massByBody = new Map<number, number>();\n  for (const collider of draft.colliders.values()) {\n    if (!collider.options.contributesToMass) continue;\n    massByBody.set(\n      collider.bodyId,\n      (massByBody.get(collider.bodyId) ?? 0) +\n        collider.shape.area * collider.options.density,\n    );\n  }\n  for (const body of draft.bodies.values()) {\n    if (\n      body.descriptor.bodyType !== \"dynamic\" ||\n      !body.descriptor.options.enabled ||\n      body.descriptor.options.mass !== \"auto\"\n    ) {\n      continue;\n    }\n    if ((massByBody.get(body.id) ?? 0) <= 0) {\n      throw new RangeError(\n        \"A dynamic body with automatic mass requires positive derived area from at least one active mass-contributing collider.\",\n      );\n    }\n  }\n}\n\nfunction bodyDefinition(\n  body: BodyDraft2D,\n  colliders: readonly ColliderDraft2D[],\n  reenableVelocity?: BodyVelocity2D,\n  previous?: BodyDefinition2D,\n): BodyDefinition2D {\n  const descriptor = body.descriptor;\n  const enabled = descriptor.options.enabled;\n  const massData = compoundMassData(colliders);\n  let flags = 0;\n  let linearVelocityX = 0;\n  let linearVelocityY = 0;\n  let angularVelocity = 0;\n  let linearDamping = 0;\n  let angularDamping = 0;\n  let gravityScale = 0;\n  let inverseMass = 0;\n  let inverseInertia = 0;\n  let localCenterX = 0;\n  let localCenterY = 0;\n  if (enabled && descriptor.bodyType === \"dynamic\") {\n    flags |= BODY_TYPE_DYNAMIC_2D;\n    if (descriptor.options.fixedRotation) flags |= BODY_FIXED_ROTATION_2D;\n    if (!descriptor.options.allowSleep) flags |= BODY_SLEEP_DISABLED_2D;\n    if (descriptor.options.ccd) flags |= BODY_CCD_2D;\n    linearVelocityX =\n      reenableVelocity?.linearVelocityX ?? descriptor.options.linearVelocity[0];\n    linearVelocityY =\n      reenableVelocity?.linearVelocityY ?? descriptor.options.linearVelocity[1];\n    angularVelocity =\n      reenableVelocity?.angularVelocity ??\n      (descriptor.options.angularVelocityDegreesPerSecond * Math.PI) / 180;\n    linearDamping = descriptor.options.linearDamping;\n    angularDamping = descriptor.options.angularDamping;\n    gravityScale = descriptor.options.gravityScale;\n    const mass =\n      descriptor.options.mass === \"auto\"\n        ? massData.mass\n        : descriptor.options.mass;\n    inverseMass = mass > 0 ? 1 / mass : 1;\n    localCenterX = massData.centerX;\n    localCenterY = massData.centerY;\n    const inertia =\n      massData.mass > 0 ? massData.inertia * (mass / massData.mass) : 0;\n    inverseInertia = descriptor.options.fixedRotation\n      ? 0\n      : inertia > 0\n        ? 1 / inertia\n        : inverseMass;\n  } else if (enabled && descriptor.bodyType === \"kinematic\") {\n    flags |= BODY_TYPE_KINEMATIC_2D;\n    if (!descriptor.options.allowSleep) flags |= BODY_SLEEP_DISABLED_2D;\n  }\n  const authoredRotationRadians =\n    (body.initialPose.rotationDegrees * Math.PI) / 180;\n  const previousKinematic =\n    previous !== undefined && (previous.flags & BODY_TYPE_KINEMATIC_2D) !== 0\n      ? previous\n      : undefined;\n  const preserveTargetBoundKinematicPose =\n    descriptor.bodyType === \"kinematic\" &&\n    (descriptor.options.target.position !== undefined ||\n      descriptor.options.target.rotationDegrees !== undefined) &&\n    previousKinematic !== undefined;\n  const previousRotationRadians = previousKinematic?.rotationRadians ?? 0;\n  const previousCosine = Math.cos(previousRotationRadians);\n  const previousSine = Math.sin(previousRotationRadians);\n  const previousOriginX =\n    previousKinematic === undefined\n      ? 0\n      : previousKinematic.positionX -\n        previousCosine * (previousKinematic.localCenterX ?? 0) +\n        previousSine * (previousKinematic.localCenterY ?? 0);\n  const previousOriginY =\n    previousKinematic === undefined\n      ? 0\n      : previousKinematic.positionY -\n        previousSine * (previousKinematic.localCenterX ?? 0) -\n        previousCosine * (previousKinematic.localCenterY ?? 0);\n  const positionX = preserveTargetBoundKinematicPose\n    ? previousOriginX\n    : body.initialPose.position[0];\n  const positionY = preserveTargetBoundKinematicPose\n    ? previousOriginY\n    : body.initialPose.position[1];\n  const effectiveRotationRadians = preserveTargetBoundKinematicPose\n    ? previousKinematic!.rotationRadians\n    : authoredRotationRadians;\n  const cosine = Math.cos(effectiveRotationRadians);\n  const sine = Math.sin(effectiveRotationRadians);\n  return Object.freeze({\n    positionX: positionX + cosine * localCenterX - sine * localCenterY,\n    positionY: positionY + sine * localCenterX + cosine * localCenterY,\n    rotationRadians: effectiveRotationRadians,\n    localCenterX,\n    localCenterY,\n    linearVelocityX,\n    linearVelocityY,\n    angularVelocity,\n    forceX: 0,\n    forceY: 0,\n    torque: 0,\n    inverseMass,\n    inverseInertia,\n    linearDamping,\n    angularDamping,\n    gravityScale,\n    sleepTime: 0,\n    flags,\n    owner: body.attachment,\n  });\n}\n\nconst ZERO_VELOCITY_2D: BodyVelocity2D = Object.freeze({\n  linearVelocityX: 0,\n  linearVelocityY: 0,\n  angularVelocity: 0,\n});\n\nfunction compoundMassData(colliders: readonly ColliderDraft2D[]): Readonly<{\n  mass: number;\n  centerX: number;\n  centerY: number;\n  inertia: number;\n}> {\n  const entries = colliders\n    .filter((collider) => collider.options.contributesToMass)\n    .map((collider) => {\n      const shape = collider.shape;\n      const cosine = Math.cos(shape.localPose.rotationRadians);\n      const sine = Math.sin(shape.localPose.rotationRadians);\n      const centerX =\n        shape.localPose.x + cosine * shape.centroidX - 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   "names": ["target", "handler", "centerX", "centerY"]
 }

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

@@ -48,17 +48,15 @@ class CommittedObstacles2D {
             canonicalLeafIndex
           });
         if (radius > 0)
-          for (const y of [-1, 1])
-            for (const x of [-1, 1])
-              parts.push({
-                kind: "circle",
-                center: new Float64Array([
-                  center[0] + x * (hw - radius),
-                  center[1] + y * (hh - radius)
-                ]),
-                radius,
-                canonicalLeafIndex
-              });
+          for (let y = -1; y <= 1; y += 2) for (let x = -1; x <= 1; x += 2) parts.push({
+            kind: "circle",
+            center: new Float64Array([
+              center[0] + x * (hw - radius),
+              center[1] + y * (hh - radius)
+            ]),
+            radius,
+            canonicalLeafIndex
+          });
         expanded = parts;
         this.expandedLeaves.set(leaf, expanded);
       }

package/dist/features/physics/lib/2d/runtime/obstacles.js.map

@@ -1,7 +1,7 @@
 {
   "version": 3,
   "sources": ["../../../../../../src/features/physics/lib/2d/runtime/obstacles.ts"],
-  "sourcesContent": ["import type { ConvexLeaf2D } from \"../shape-records.js\";\nimport type { PhysicsWorld2DKernel } from \"../world/world.js\";\nimport { COLLIDER_SENSOR_2D } from \"../world/contact-cache.js\";\nexport interface PhysicsObstacleBatch2D {\n  readonly revision: number;\n  readonly boxes: Float64Array;\n  readonly ellipses: Float64Array;\n  readonly polygons: Float64Array;\n}\n/** Published copies: no borrowed physics-engine memory or candidate state. */\nexport class CommittedObstacles2D {\n  private batch = {\n    revision: 0,\n    boxes: new Float64Array(0),\n    ellipses: new Float64Array(0),\n    polygons: new Float64Array(0),\n  };\n  private readonly expandedShapes = new WeakMap<\n    readonly ConvexLeaf2D[],\n    readonly ConvexLeaf2D[]\n  >();\n  private readonly expandedLeaves = new WeakMap<\n    ConvexLeaf2D,\n    readonly ConvexLeaf2D[]\n  >();\n  private leaves(leaves: readonly ConvexLeaf2D[]): readonly ConvexLeaf2D[] {\n    // A rounded rectangle with equal corner radii is exactly the union of two\n    // central boxes and four disks. Cache the immutable geometry, not world poses.\n    const cached = this.expandedShapes.get(leaves);\n    if (cached) return cached;\n    const result: ConvexLeaf2D[] = [];\n    for (const leaf of leaves) {\n      if (leaf.kind !== \"rounded-box\") {\n        result.push(leaf);\n        continue;\n      }\n      let expanded = this.expandedLeaves.get(leaf);\n      if (!expanded) {\n        const radius = leaf.radii[0]!;\n        if (!leaf.radii.every((r) => r === radius)) {\n          result.push(leaf);\n          continue;\n        }\n        const {\n          halfWidth: hw,\n          halfHeight: hh,\n          center,\n          canonicalLeafIndex,\n        } = leaf;\n        const parts: ConvexLeaf2D[] = [];\n        if (hw > radius)\n          parts.push({\n            kind: \"box\",\n            center,\n            halfWidth: hw - radius,\n            halfHeight: hh,\n            canonicalLeafIndex,\n          });\n        if (hh > radius)\n          parts.push({\n            kind: \"box\",\n            center,\n            halfWidth: hw,\n            halfHeight: hh - radius,\n            canonicalLeafIndex,\n          });\n        if (radius > 0)\n          for (const y of [-1, 1])\n            for (const x of [-1, 1])\n              parts.push({\n                kind: \"circle\",\n                center: new Float64Array([\n                  center[0]! + x * (hw - radius),\n                  center[1]! + y * (hh - radius),\n                ]),\n                radius,\n                canonicalLeafIndex,\n              });\n        expanded = parts;\n        this.expandedLeaves.set(leaf, expanded);\n      }\n      result.push(...expanded);\n    }\n    this.expandedShapes.set(leaves, result);\n    return result;\n  }\n  private error: Error | undefined;\n  private changed = false;\n  private write(output: Float64Array, index: number, value: number): void {\n    if (output[index] !== value) {\n      output[index] = value;\n      this.changed = true;\n    }\n  }\n  read(): PhysicsObstacleBatch2D {\n    if (this.error) throw this.error;\n    return this.batch;\n  }\n  publish(\n    world: PhysicsWorld2DKernel,\n    entries: readonly Readonly<{ id: number; bodyId: number }>[],\n    revision: number,\n  ): void {\n    let boxes = 0,\n      ellipses = 0,\n      polygons = 0;\n    for (const entry of entries) {\n      const collider = world.colliderIdentity(entry.id);\n      if (\n        !collider ||\n        !world.isBodyEnabled(entry.bodyId) ||\n        world.colliders.flags[collider.index]! & COLLIDER_SENSOR_2D\n      )\n        continue;\n      for (const leaf of this.leaves(\n        world.colliders.shapes[collider.index]!.leaves,\n      )) {\n        if (leaf.kind === \"box\") boxes += 10;\n        else if (leaf.kind === \"ellipse\" || leaf.kind === \"circle\")\n          ellipses += 10;\n        else if (leaf.kind === \"polygon\") polygons += 6 + leaf.vertices.length;\n        else {\n          this.error = new TypeError(\n            \"Unsupported flow obstacle collider: \" + leaf.kind,\n          );\n          return;\n        }\n      }\n    }\n    this.changed =\n      this.error !== undefined ||\n      this.batch.boxes.length !== boxes ||\n      this.batch.ellipses.length !== ellipses ||\n      this.batch.polygons.length !== polygons;\n    this.error = undefined;\n    if (this.batch.boxes.length !== boxes)\n      this.batch.boxes = new Float64Array(boxes);\n    if (this.batch.ellipses.length !== ellipses)\n      this.batch.ellipses = new Float64Array(ellipses);\n    if (this.batch.polygons.length !== polygons)\n      this.batch.polygons = new Float64Array(polygons);\n    let boxAt = 0,\n      ellipseAt = 0,\n      polygonAt = 0;\n    const bodies = world.bodies;\n    for (const entry of entries) {\n      const collider = world.colliderIdentity(entry.id);\n      if (\n        !collider ||\n        !world.isBodyEnabled(entry.bodyId) ||\n        world.colliders.flags[collider.index]! & COLLIDER_SENSOR_2D\n      )\n        continue;\n      const body = world.bodyIdentity(entry.bodyId)!.index;\n      const shape = world.colliders.shapes[collider.index]!;\n      const rotation = bodies.rotationRadians[body]!;\n      const cosine = Math.cos(rotation),\n        sine = Math.sin(rotation);\n      const originX =\n        bodies.positionX[body]! -\n        cosine * bodies.localCenterX[body]! +\n        sine * bodies.localCenterY[body]!;\n      const originY =\n        bodies.positionY[body]! -\n        sine * bodies.localCenterX[body]! -\n        cosine * bodies.localCenterY[body]!;\n      const local = shape.localPose;\n      const x = originX + cosine * local.x - sine * local.y;\n      const y = originY + sine * local.x + cosine * local.y;\n      const angle = rotation + local.rotationRadians,\n        c = Math.cos(angle),\n        s = Math.sin(angle);\n      for (const leaf of this.leaves(shape.leaves)) {\n        if (leaf.kind === \"polygon\") {\n          const output = this.batch.polygons;\n          this.write(output, polygonAt++, leaf.vertices.length / 2);\n          this.write(output, polygonAt++, bodies.linearVelocityX[body]!);\n          this.write(output, polygonAt++, bodies.linearVelocityY[body]!);\n          this.write(output, polygonAt++, bodies.angularVelocity[body]!);\n          this.write(output, polygonAt++, bodies.positionX[body]!);\n          this.write(output, polygonAt++, bodies.positionY[body]!);\n          for (let v = 0; v < leaf.vertices.length; v += 2) {\n            this.write(\n              output,\n              polygonAt++,\n              x + c * leaf.vertices[v]! - s * leaf.vertices[v + 1]!,\n            );\n            this.write(\n              output,\n              polygonAt++,\n              y + s * leaf.vertices[v]! + c * leaf.vertices[v + 1]!,\n            );\n          }\n        } else if (\n          leaf.kind === \"box\" ||\n          leaf.kind === \"ellipse\" ||\n          leaf.kind === \"circle\"\n        ) {\n          const output =\n            leaf.kind === \"box\" ? this.batch.boxes : this.batch.ellipses;\n          let at = leaf.kind === \"box\" ? boxAt : ellipseAt;\n          this.write(\n            output,\n            at++,\n            x + c * leaf.center[0]! - s * leaf.center[1]!,\n          );\n          this.write(\n            output,\n            at++,\n            y + s * leaf.center[0]! + c * leaf.center[1]!,\n          );\n          this.write(\n            output,\n            at++,\n            leaf.kind === \"box\"\n              ? leaf.halfWidth\n              : leaf.kind === \"circle\"\n                ? leaf.radius\n                : leaf.radiusX,\n          );\n          this.write(\n            output,\n            at++,\n            leaf.kind === \"box\"\n              ? leaf.halfHeight\n              : leaf.kind === \"circle\"\n                ? leaf.radius\n                : leaf.radiusY,\n          );\n          this.write(\n            output,\n            at++,\n            angle + (leaf.kind === \"ellipse\" ? leaf.rotationRadians : 0),\n          );\n          this.write(output, at++, bodies.linearVelocityX[body]!);\n          this.write(output, at++, bodies.linearVelocityY[body]!);\n          this.write(output, at++, bodies.angularVelocity[body]!);\n          this.write(output, at++, bodies.positionX[body]!);\n          this.write(output, at++, bodies.positionY[body]!);\n          if (leaf.kind === \"box\") boxAt = at;\n          else ellipseAt = at;\n        }\n      }\n    }\n    if (this.changed) this.batch.revision = revision;\n  }\n}\n"],
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+  "sourcesContent": ["import type { ConvexLeaf2D } from \"../shape-records.js\";\nimport type { PhysicsWorld2DKernel } from \"../world/world.js\";\nimport { COLLIDER_SENSOR_2D } from \"../world/contact-cache.js\";\nexport interface PhysicsObstacleBatch2D {\n  readonly revision: number;\n  readonly boxes: Float64Array;\n  readonly ellipses: Float64Array;\n  readonly polygons: Float64Array;\n}\n/** Published copies: no borrowed physics-engine memory or candidate state. */\nexport class CommittedObstacles2D {\n  private batch = {\n    revision: 0,\n    boxes: new Float64Array(0),\n    ellipses: new Float64Array(0),\n    polygons: new Float64Array(0),\n  };\n  private readonly expandedShapes = new WeakMap<\n    readonly ConvexLeaf2D[],\n    readonly ConvexLeaf2D[]\n  >();\n  private readonly expandedLeaves = new WeakMap<\n    ConvexLeaf2D,\n    readonly ConvexLeaf2D[]\n  >();\n  private leaves(leaves: readonly ConvexLeaf2D[]): readonly ConvexLeaf2D[] {\n    // A rounded rectangle with equal corner radii is exactly the union of two\n    // central boxes and four disks. Cache the immutable geometry, not world poses.\n    const cached = this.expandedShapes.get(leaves);\n    if (cached) return cached;\n    const result: ConvexLeaf2D[] = [];\n    for (const leaf of leaves) {\n      if (leaf.kind !== \"rounded-box\") {\n        result.push(leaf);\n        continue;\n      }\n      let expanded = this.expandedLeaves.get(leaf);\n      if (!expanded) {\n        const radius = leaf.radii[0]!;\n        if (!leaf.radii.every((r) => r === radius)) {\n          result.push(leaf);\n          continue;\n        }\n        const {\n          halfWidth: hw,\n          halfHeight: hh,\n          center,\n          canonicalLeafIndex,\n        } = leaf;\n        const parts: ConvexLeaf2D[] = [];\n        if (hw > radius)\n          parts.push({\n            kind: \"box\",\n            center,\n            halfWidth: hw - radius,\n            halfHeight: hh,\n            canonicalLeafIndex,\n          });\n        if (hh > radius)\n          parts.push({\n            kind: \"box\",\n            center,\n            halfWidth: hw,\n            halfHeight: hh - radius,\n            canonicalLeafIndex,\n          });\n        if (radius > 0)\n          for (let y = -1; y <= 1; y += 2) for (let x = -1; x <= 1; x += 2) parts.push({\n                kind: \"circle\",\n                center: new Float64Array([\n                  center[0]! + x * (hw - radius),\n                  center[1]! + y * (hh - radius),\n                ]),\n                radius,\n                canonicalLeafIndex,\n              });\n        expanded = parts;\n        this.expandedLeaves.set(leaf, expanded);\n      }\n      result.push(...expanded);\n    }\n    this.expandedShapes.set(leaves, result);\n    return result;\n  }\n  private error: Error | undefined;\n  private changed = false;\n  private write(output: Float64Array, index: number, value: number): void {\n    if (output[index] !== value) {\n      output[index] = value;\n      this.changed = true;\n    }\n  }\n  read(): PhysicsObstacleBatch2D {\n    if (this.error) throw this.error;\n    return this.batch;\n  }\n  publish(\n    world: PhysicsWorld2DKernel,\n    entries: readonly Readonly<{ id: number; bodyId: number }>[],\n    revision: number,\n  ): void {\n    let boxes = 0,\n      ellipses = 0,\n      polygons = 0;\n    for (const entry of entries) {\n      const collider = world.colliderIdentity(entry.id);\n      if (\n        !collider ||\n        !world.isBodyEnabled(entry.bodyId) ||\n        world.colliders.flags[collider.index]! & COLLIDER_SENSOR_2D\n      )\n        continue;\n      for (const leaf of this.leaves(\n        world.colliders.shapes[collider.index]!.leaves,\n      )) {\n        if (leaf.kind === \"box\") boxes += 10;\n        else if (leaf.kind === \"ellipse\" || leaf.kind === \"circle\")\n          ellipses += 10;\n        else if (leaf.kind === \"polygon\") polygons += 6 + leaf.vertices.length;\n        else {\n          this.error = new TypeError(\n            \"Unsupported flow obstacle collider: \" + leaf.kind,\n          );\n          return;\n        }\n      }\n    }\n    this.changed =\n      this.error !== undefined ||\n      this.batch.boxes.length !== boxes ||\n      this.batch.ellipses.length !== ellipses ||\n      this.batch.polygons.length !== polygons;\n    this.error = undefined;\n    if (this.batch.boxes.length !== boxes)\n      this.batch.boxes = new Float64Array(boxes);\n    if (this.batch.ellipses.length !== ellipses)\n      this.batch.ellipses = new Float64Array(ellipses);\n    if (this.batch.polygons.length !== polygons)\n      this.batch.polygons = new Float64Array(polygons);\n    let boxAt = 0,\n      ellipseAt = 0,\n      polygonAt = 0;\n    const bodies = world.bodies;\n    for (const entry of entries) {\n      const collider = world.colliderIdentity(entry.id);\n      if (\n        !collider ||\n        !world.isBodyEnabled(entry.bodyId) ||\n        world.colliders.flags[collider.index]! & COLLIDER_SENSOR_2D\n      )\n        continue;\n      const body = world.bodyIdentity(entry.bodyId)!.index;\n      const shape = world.colliders.shapes[collider.index]!;\n      const rotation = bodies.rotationRadians[body]!;\n      const cosine = Math.cos(rotation),\n        sine = Math.sin(rotation);\n      const originX =\n        bodies.positionX[body]! -\n        cosine * bodies.localCenterX[body]! +\n        sine * bodies.localCenterY[body]!;\n      const originY =\n        bodies.positionY[body]! -\n        sine * bodies.localCenterX[body]! -\n        cosine * bodies.localCenterY[body]!;\n      const local = shape.localPose;\n      const x = originX + cosine * local.x - sine * local.y;\n      const y = originY + sine * local.x + cosine * local.y;\n      const angle = rotation + local.rotationRadians,\n        c = Math.cos(angle),\n        s = Math.sin(angle);\n      for (const leaf of this.leaves(shape.leaves)) {\n        if (leaf.kind === \"polygon\") {\n          const output = this.batch.polygons;\n          this.write(output, polygonAt++, leaf.vertices.length / 2);\n          this.write(output, polygonAt++, bodies.linearVelocityX[body]!);\n          this.write(output, polygonAt++, bodies.linearVelocityY[body]!);\n          this.write(output, polygonAt++, bodies.angularVelocity[body]!);\n          this.write(output, polygonAt++, bodies.positionX[body]!);\n          this.write(output, polygonAt++, bodies.positionY[body]!);\n          for (let v = 0; v < leaf.vertices.length; v += 2) {\n            this.write(\n              output,\n              polygonAt++,\n              x + c * leaf.vertices[v]! - s * leaf.vertices[v + 1]!,\n            );\n            this.write(\n              output,\n              polygonAt++,\n              y + s * leaf.vertices[v]! + c * leaf.vertices[v + 1]!,\n            );\n          }\n        } else if (\n          leaf.kind === \"box\" ||\n          leaf.kind === \"ellipse\" ||\n          leaf.kind === \"circle\"\n        ) {\n          const output =\n            leaf.kind === \"box\" ? this.batch.boxes : this.batch.ellipses;\n          let at = leaf.kind === \"box\" ? boxAt : ellipseAt;\n          this.write(\n            output,\n            at++,\n            x + c * leaf.center[0]! - s * leaf.center[1]!,\n          );\n          this.write(\n            output,\n            at++,\n            y + s * leaf.center[0]! + c * leaf.center[1]!,\n          );\n          this.write(\n            output,\n            at++,\n            leaf.kind === \"box\"\n              ? leaf.halfWidth\n              : leaf.kind === \"circle\"\n                ? leaf.radius\n                : leaf.radiusX,\n          );\n          this.write(\n            output,\n            at++,\n            leaf.kind === \"box\"\n              ? leaf.halfHeight\n              : leaf.kind === \"circle\"\n                ? leaf.radius\n                : leaf.radiusY,\n          );\n          this.write(\n            output,\n            at++,\n            angle + (leaf.kind === \"ellipse\" ? leaf.rotationRadians : 0),\n          );\n          this.write(output, at++, bodies.linearVelocityX[body]!);\n          this.write(output, at++, bodies.linearVelocityY[body]!);\n          this.write(output, at++, bodies.angularVelocity[body]!);\n          this.write(output, at++, bodies.positionX[body]!);\n          this.write(output, at++, bodies.positionY[body]!);\n          if (leaf.kind === \"box\") boxAt = at;\n          else ellipseAt = at;\n        }\n      }\n    }\n    if (this.changed) this.batch.revision = revision;\n  }\n}\n"],
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   "names": []
 }

package/dist/features/physics/lib/2d/shapes.js

@@ -353,8 +353,8 @@ function mutableBoundsForLeaves(leaves, pose) {
   return result;
 }
 function includeBoxCorners(center, halfWidth, halfHeight, pose, bounds, point) {
-  for (const xSign of [-1, 1]) {
-    for (const ySign of [-1, 1]) {
+  for (let xSign = -1; xSign <= 1; xSign += 2) {
+    for (let ySign = -1; ySign <= 1; ySign += 2) {
       transformPointInto(
         point,
         0,
@@ -466,13 +466,12 @@ function lineCentroid(points, closed) {
 }
 function roundedBoxContour(halfWidth, halfHeight, radii, center) {
   const points = [];
-  const cornerData = [
-    [halfWidth - radii[1], -halfHeight + radii[1], -Math.PI / 2, 0, radii[1]],
-    [halfWidth - radii[2], halfHeight - radii[2], 0, Math.PI / 2, radii[2]],
-    [-halfWidth + radii[3], halfHeight - radii[3], Math.PI / 2, Math.PI, radii[3]],
-    [-halfWidth + radii[0], -halfHeight + radii[0], Math.PI, 3 * Math.PI / 2, radii[0]]
-  ];
-  for (const [x, y, start, end, radius] of cornerData) {
+  for (let corner = 0; corner < 4; corner++) {
+    const radius = radii[(corner + 1) % 4];
+    const x = corner < 2 ? halfWidth - radius : -halfWidth + radius;
+    const y = corner === 0 || corner === 3 ? -halfHeight + radius : halfHeight - radius;
+    const start = (corner - 1) * Math.PI / 2;
+    const end = corner * Math.PI / 2;
     const cornerPoints = radius === 0 ? [new Float64Array([center[0] + x, center[1] + y])] : flattenCircularSweep(center[0] + x, center[1] + y, radius, start, end, false);
     points.push(...cornerPoints);
   }