@pibbl/core 0.0.1

package/dist/features/physics/lib/2d/world/rapier.js.map

@@ -0,0 +1,7 @@
+{
+  "version": 3,
+  "sources": ["../../../../../../src/features/physics/lib/2d/world/rapier.ts"],
+  "sourcesContent": ["import RAPIER from \"./rapier-engine.js\";\nimport type { BodyStore2D, ColliderStore2D } from \"./storage.js\";\nimport type { ShapeRecord2D, ConvexLeaf2D } from \"../shape-records.js\";\nimport type { PrivateManifold2D } from \"../collision/manifold.js\";\nimport { BODY_CCD_2D, collisionFiltersAllow2D } from \"./ccd.js\";\nimport {\n  BODY_TYPE_DYNAMIC_2D,\n  BODY_TYPE_KINEMATIC_2D,\n  BODY_FIXED_ROTATION_2D,\n} from \"./integrator.js\";\nimport { BODY_SLEEPING_2D, BODY_SLEEP_DISABLED_2D } from \"./solver.js\";\nimport {\n  COLLIDER_SENSOR_2D,\n  type SortedColliderPairs2D,\n} from \"./contact-cache.js\";\n\n// The compat build embeds WASM; initialization neither starts a clock nor fetches\n// an external URL. Importers finish loading before any world can be mounted.\nawait RAPIER.init();\nconst SCALE = 100;\nlet ownedWorlds = 0;\nexport function liveRapierWorldsForTest(): number {\n  return ownedWorlds;\n}\n\ninterface BodyBinding {\n  handle: number;\n  generation: number;\n  configuration?: string;\n  staticPose?: readonly [number, number, number];\n}\ninterface ColliderBinding {\n  handles: number[];\n  generation: number;\n  shape: ShapeRecord2D;\n  body: number;\n  centerX: number;\n  centerY: number;\n  feature: number;\n}\nexport interface RapierCheckpoint2D {\n  bytes: Uint8Array;\n  bodies: Map<number, BodyBinding>;\n  colliders: Map<number, ColliderBinding>;\n}\n\n/** Private engine bridge. Pibbl retains identity, transactions, commands and time. */\nexport class RapierSimulation2D {\n  private world = new RAPIER.World({ x: 0, y: 0 });\n  private disposed = false;\n  private bodyBindings = new Map<number, BodyBinding>();\n  private colliderBindings = new Map<number, ColliderBinding>();\n  private colliderIndices = new Map<number, number>();\n  private impulses = new Map<string, number[]>();\n  private impacts = new Map<\n    string,\n    {\n      first: number;\n      second: number;\n      manifold: PrivateManifold2D;\n      impulses: number[];\n    }\n  >();\n\n  constructor() {\n    this.world.lengthUnit = 1;\n    ownedWorlds++;\n  }\n\n  checkpoint(): RapierCheckpoint2D {\n    return {\n      bytes: this.world.takeSnapshot(),\n      bodies: new Map(this.bodyBindings),\n      colliders: new Map(this.colliderBindings),\n    };\n  }\n\n  restore(checkpoint: RapierCheckpoint2D): void {\n    const restored = RAPIER.World.restoreSnapshot(checkpoint.bytes);\n    this.world.free();\n    this.world = restored;\n    this.bodyBindings = new Map(checkpoint.bodies);\n    this.colliderBindings = new Map(checkpoint.colliders);\n    this.rebuildColliderIndices();\n    this.impulses.clear();\n    this.impacts.clear();\n  }\n\n  dispose(): void {\n    if (this.disposed) return;\n    this.disposed = true;\n    this.world.free();\n    ownedWorlds--;\n    this.bodyBindings.clear();\n    this.colliderBindings.clear();\n    this.colliderIndices.clear();\n    this.impulses.clear();\n    this.impacts.clear();\n  }\n\n  step(\n    bodies: BodyStore2D,\n    colliders: ColliderStore2D,\n    dt: number,\n    gravityX: number,\n    gravityY: number,\n    sleeping: boolean,\n    velocityIterations = 4,\n    positionIterations = 1,\n  ): void {\n    validateEngineNumber(gravityX / SCALE);\n    validateEngineNumber(gravityY / SCALE);\n    this.synchronize(bodies, colliders, sleeping);\n    const kinematicTargets = new Map<\n      number,\n      { x: number; y: number; angle: number }\n    >();\n    for (const [index, binding] of this.bodyBindings) {\n      const body = this.world.getRigidBody(binding.handle);\n      if (bodies.flags[index]! & BODY_TYPE_KINEMATIC_2D) {\n        const target = {\n          x: bodies.positionX[index]! + bodies.linearVelocityX[index]! * dt,\n          y: bodies.positionY[index]! + bodies.linearVelocityY[index]! * dt,\n          angle:\n            bodies.rotationRadians[index]! +\n            bodies.angularVelocity[index]! * dt,\n        };\n        body.setNextKinematicTranslation({\n          x: target.x / SCALE,\n          y: target.y / SCALE,\n        });\n        body.setNextKinematicRotation(target.angle);\n        kinematicTargets.set(index, target);\n      } else if (\n        !(bodies.flags[index]! & BODY_SLEEPING_2D) &&\n        (gravityX !== 0 || gravityY !== 0) &&\n        bodies.gravityScale[index] !== 0 &&\n        !this.hasSolidContact(body)\n      )\n        body.wakeUp();\n    }\n    this.world.gravity = { x: gravityX / SCALE, y: gravityY / SCALE };\n    this.world.numSolverIterations = velocityIterations;\n    this.world.numInternalPgsIterations = positionIterations;\n    const substeps = this.ccdSubsteps(\n      bodies,\n      colliders,\n      dt,\n      gravityX,\n      gravityY,\n    );\n    this.world.timestep = dt / substeps;\n    this.world.integrationParameters.maxCcdSubsteps = 4;\n    const allowed = (a: number, b: number) => {\n      const first = this.colliderIndices.get(a);\n      const second = this.colliderIndices.get(b);\n      return (\n        first !== undefined &&\n        second !== undefined &&\n        collisionFiltersAllow2D(\n          colliders.filters[first],\n          colliders.filters[second],\n        )\n      );\n    };\n    const hooks: RAPIER.PhysicsHooks = {\n      filterContactPair: (a, b) =>\n        allowed(a, b) ? RAPIER.SolverFlags.COMPUTE_IMPULSE : null,\n      filterIntersectionPair: allowed,\n    };\n    const starts = new Map(\n      [...kinematicTargets.keys()].map((index) => [\n        index,\n        {\n          x: bodies.positionX[index]!,\n          y: bodies.positionY[index]!,\n          angle: bodies.rotationRadians[index]!,\n        },\n      ]),\n    );\n    this.impulses.clear();\n    this.impacts.clear();\n    for (let substep = 1; substep <= substeps; substep++) {\n      const fraction = substep / substeps;\n      for (const [index, target] of kinematicTargets) {\n        const start = starts.get(index)!;\n        const body = this.world.getRigidBody(\n          this.bodyBindings.get(index)!.handle,\n        );\n        body.setNextKinematicTranslation({\n          x: (start.x + (target.x - start.x) * fraction) / SCALE,\n          y: (start.y + (target.y - start.y) * fraction) / SCALE,\n        });\n        body.setNextKinematicRotation(\n          start.angle + (target.angle - start.angle) * fraction,\n        );\n      }\n      this.world.step(undefined, hooks);\n      if (substeps > 1) this.captureImpacts(bodies);\n    }\n    for (const [index, binding] of this.bodyBindings) {\n      if (\n        !(\n          bodies.flags[index]! &\n          (BODY_TYPE_DYNAMIC_2D | BODY_TYPE_KINEMATIC_2D)\n        )\n      )\n        continue;\n      const body = this.world.getRigidBody(binding.handle);\n      const position = body.translation();\n      const velocity = body.linvel();\n      for (const value of [\n        position.x,\n        position.y,\n        velocity.x,\n        velocity.y,\n        body.rotation(),\n        body.angvel(),\n      ])\n        validateEngineNumber(value);\n      const target = kinematicTargets.get(index);\n      bodies.positionX[index] =\n        target?.x ?? logicalValue(position.x, bodies.positionX[index]!);\n      bodies.positionY[index] =\n        target?.y ?? logicalValue(position.y, bodies.positionY[index]!);\n      bodies.rotationRadians[index] = target?.angle ?? body.rotation();\n      bodies.linearVelocityX[index] = logicalValue(\n        velocity.x,\n        bodies.linearVelocityX[index]!,\n      );\n      bodies.linearVelocityY[index] = logicalValue(\n        velocity.y,\n        bodies.linearVelocityY[index]!,\n      );\n      bodies.angularVelocity[index] = body.angvel();\n      bodies.forceX[index] = 0;\n      bodies.forceY[index] = 0;\n      bodies.torque[index] = 0;\n      if (body.isSleeping()) bodies.flags[index]! |= BODY_SLEEPING_2D;\n      else bodies.flags[index]! &= ~BODY_SLEEPING_2D;\n    }\n  }\n\n  manifold(first: number, second: number): PrivateManifold2D | null {\n    const impact = this.impacts.get(`${first}:${second}`);\n    if (impact) {\n      this.impulses.set(`${first}:${second}`, impact.impulses);\n      return impact.manifold;\n    }\n    return this.currentManifold(first, second);\n  }\n\n  contactPairs(\n    pairs: SortedColliderPairs2D,\n    colliders: ColliderStore2D,\n  ): SortedColliderPairs2D {\n    if (this.impacts.size === 0) return pairs;\n    const merged = new Map<string, readonly [number, number]>();\n    for (let i = 0; i < pairs.pairCount; i++) {\n      const a = pairs.pairFirstColliderIndices[i]!,\n        b = pairs.pairSecondColliderIndices[i]!;\n      merged.set(`${a}:${b}`, [a, b]);\n    }\n    for (const [key, impact] of this.impacts)\n      merged.set(key, [impact.first, impact.second]);\n    const sorted = [...merged.values()].sort(\n      (a, b) => a[0] - b[0] || a[1] - b[1],\n    );\n    return {\n      pairCount: sorted.length,\n      pairFirstColliderIndices: Int32Array.from(sorted, (pair) => pair[0]),\n      pairSecondColliderIndices: Int32Array.from(sorted, (pair) => pair[1]),\n      pairFirstColliderGenerations: Uint32Array.from(\n        sorted,\n        (pair) => colliders.generations[pair[0]]!,\n      ),\n      pairSecondColliderGenerations: Uint32Array.from(\n        sorted,\n        (pair) => colliders.generations[pair[1]]!,\n      ),\n    };\n  }\n\n  private captureImpacts(bodies: BodyStore2D): void {\n    const seen = new Set<string>();\n    for (const [index, binding] of this.colliderBindings) {\n      if (!(bodies.flags[binding.body]! & BODY_CCD_2D)) continue;\n      for (const handle of binding.handles) {\n        const collider = this.world.getCollider(handle);\n        if (collider.isSensor()) continue;\n        this.world.contactPairsWith(collider, (other) => {\n          if (other.isSensor()) return;\n          const otherIndex = this.colliderIndices.get(other.handle);\n          if (otherIndex === undefined || otherIndex === index) return;\n          const first = Math.min(index, otherIndex),\n            second = Math.max(index, otherIndex),\n            key = `${first}:${second}`;\n          if (seen.has(key)) return;\n          seen.add(key);\n          const manifold = this.currentManifold(first, second, true);\n          const impulses = this.impulses.get(key);\n          if (!manifold || !impulses?.some((value) => value > 0)) return;\n          const previous = this.impacts.get(key);\n          this.impacts.set(key, {\n            first,\n            second,\n            manifold,\n            impulses: impulses.map(\n              (value, i) => value + (previous?.impulses[i] ?? 0),\n            ),\n          });\n        });\n      }\n    }\n  }\n\n  private currentManifold(\n    first: number,\n    second: number,\n    includePredictiveImpact = false,\n  ): PrivateManifold2D | null {\n    const a = this.colliderBindings.get(first);\n    const b = this.colliderBindings.get(second);\n    if (!a || !b) return null;\n    let result: PrivateManifold2D | null = null;\n    let depth = Infinity;\n    for (let ai = 0; ai < a.handles.length; ai++)\n      for (let bi = 0; bi < b.handles.length; bi++) {\n        const ca = this.world.getCollider(a.handles[ai]!);\n        const cb = this.world.getCollider(b.handles[bi]!);\n        if (ca.isSensor() || cb.isSensor()) {\n          if (this.world.intersectionPair(ca, cb))\n            return {\n              normalX: 1,\n              normalY: 0,\n              firstLeaf: ai,\n              secondLeaf: bi,\n              points: [\n                {\n                  firstX: ca.translation().x,\n                  firstY: ca.translation().y,\n                  secondX: cb.translation().x,\n                  secondY: cb.translation().y,\n                  separation: 0,\n                  firstFeature: 0,\n                  secondFeature: 0,\n                },\n              ],\n            };\n          continue;\n        }\n        this.world.contactPair(ca, cb, (contact, flipped) => {\n          if (contact.numContacts() === 0) return;\n          const separation =\n            SCALE *\n            Math.min(\n              ...Array.from({ length: contact.numContacts() }, (_, i) =>\n                contact.contactDist(i),\n              ),\n            );\n          if (\n            (!includePredictiveImpact && separation > 0.5) ||\n            separation >= depth\n          )\n            return;\n          const normal = contact.normal();\n          const nx = normal.x * (flipped ? 1 : -1),\n            ny = normal.y * (flipped ? 1 : -1);\n          const points = [];\n          const impulses = [];\n          for (let i = 0; i < Math.min(2, contact.numContacts()); i++) {\n            const pa = contact.localContactPoint1(i)!;\n            const pb = contact.localContactPoint2(i)!;\n            const wa = worldPoint(flipped ? cb : ca, pa);\n            const wb = worldPoint(flipped ? ca : cb, pb);\n            points.push({\n              firstX: flipped ? wb.x : wa.x,\n              firstY: flipped ? wb.y : wa.y,\n              secondX: flipped ? wa.x : wb.x,\n              secondY: flipped ? wa.y : wb.y,\n              separation: contact.contactDist(i) * SCALE,\n              firstFeature: contact.contactFid1(i),\n              secondFeature: contact.contactFid2(i),\n            });\n            impulses.push(contact.contactImpulse(i) * SCALE);\n          }\n          result = {\n            normalX: nx,\n            normalY: ny,\n            firstLeaf: ai,\n            secondLeaf: bi,\n            points,\n          };\n          depth = separation;\n          this.impulses.set(`${first}:${second}`, impulses);\n        });\n      }\n    return result;\n  }\n\n  normalImpulses(first: number, second: number): readonly number[] {\n    return this.impulses.get(`${first}:${second}`) ?? [];\n  }\n\n  private synchronize(\n    bodies: BodyStore2D,\n    colliders: ColliderStore2D,\n    sleeping: boolean,\n  ): void {\n    for (const [index, binding] of this.colliderBindings) {\n      if (\n        colliders.has(index, binding.generation) &&\n        colliders.shapes[index] === binding.shape &&\n        colliders.bodyIndices[index] === binding.body &&\n        bodies.localCenterX[binding.body] === binding.centerX &&\n        bodies.localCenterY[binding.body] === binding.centerY\n      )\n        continue;\n      for (const handle of binding.handles) {\n        const collider = this.world.getCollider(handle);\n        if (collider) this.world.removeCollider(collider, false);\n      }\n      this.colliderBindings.delete(index);\n    }\n    for (const [index, binding] of this.bodyBindings) {\n      if (bodies.has(index, binding.generation)) continue;\n      this.world.removeRigidBody(this.world.getRigidBody(binding.handle));\n      this.bodyBindings.delete(index);\n    }\n    for (let index = 0; index < bodies.capacity; index++) {\n      const generation = bodies.generations[index]!;\n      if (!bodies.has(index, generation)) continue;\n      const flags = bodies.flags[index]!;\n      for (const value of [\n        bodies.positionX[index]! / SCALE,\n        bodies.positionY[index]! / SCALE,\n        bodies.linearVelocityX[index]! / SCALE,\n        bodies.linearVelocityY[index]! / SCALE,\n        bodies.rotationRadians[index]!,\n        bodies.angularVelocity[index]!,\n        bodies.forceX[index]! / SCALE,\n        bodies.forceY[index]! / SCALE,\n        bodies.torque[index]! / (SCALE * SCALE),\n        bodies.gravityScale[index]!,\n        bodies.linearDamping[index]!,\n        bodies.angularDamping[index]!,\n      ])\n        validateEngineNumber(value);\n      if (bodies.inverseMass[index]! > 0)\n        validateEngineNumber(1 / bodies.inverseMass[index]!);\n      if (bodies.inverseInertia[index]! > 0)\n        validateEngineNumber(\n          1 / bodies.inverseInertia[index]! / (SCALE * SCALE),\n        );\n      const type =\n        flags & BODY_TYPE_DYNAMIC_2D\n          ? RAPIER.RigidBodyType.Dynamic\n          : flags & BODY_TYPE_KINEMATIC_2D\n            ? RAPIER.RigidBodyType.KinematicPositionBased\n            : RAPIER.RigidBodyType.Fixed;\n      let binding = this.bodyBindings.get(index);\n      if (!binding) {\n        const created = this.world.createRigidBody(\n          new RAPIER.RigidBodyDesc(type).setCanSleep(true),\n        );\n        binding = { handle: created.handle, generation };\n        this.bodyBindings.set(index, binding);\n      }\n      const configuration = [\n        type,\n        bodies.gravityScale[index],\n        bodies.linearDamping[index],\n        bodies.angularDamping[index],\n        flags & (BODY_CCD_2D | BODY_FIXED_ROTATION_2D),\n        bodies.inverseMass[index],\n        bodies.inverseInertia[index],\n      ].join(\":\");\n      if (\n        type === RAPIER.RigidBodyType.Fixed &&\n        binding.configuration === configuration &&\n        binding.staticPose?.[0] === bodies.positionX[index] &&\n        binding.staticPose[1] === bodies.positionY[index] &&\n        binding.staticPose[2] === bodies.rotationRadians[index]\n      )\n        continue;\n      const body = this.world.getRigidBody(binding.handle);\n      if (body.bodyType() !== type) body.setBodyType(type, false);\n      const position = body.translation();\n      if (\n        position.x !== Math.fround(bodies.positionX[index]! / SCALE) ||\n        position.y !== Math.fround(bodies.positionY[index]! / SCALE)\n      )\n        body.setTranslation(\n          {\n            x: bodies.positionX[index]! / SCALE,\n            y: bodies.positionY[index]! / SCALE,\n          },\n          false,\n        );\n      if (body.rotation() !== bodies.rotationRadians[index])\n        body.setRotation(bodies.rotationRadians[index]!, false);\n      const velocity = body.linvel();\n      if (\n        velocity.x !== Math.fround(bodies.linearVelocityX[index]! / SCALE) ||\n        velocity.y !== Math.fround(bodies.linearVelocityY[index]! / SCALE)\n      )\n        body.setLinvel(\n          {\n            x: bodies.linearVelocityX[index]! / SCALE,\n            y: bodies.linearVelocityY[index]! / SCALE,\n          },\n          false,\n        );\n      if (body.angvel() !== bodies.angularVelocity[index])\n        body.setAngvel(bodies.angularVelocity[index]!, false);\n\n      if (binding.configuration !== configuration) {\n        this.bodyBindings.set(index, { ...binding, configuration });\n        body.setGravityScale(bodies.gravityScale[index]!, false);\n        body.setLinearDamping(bodies.linearDamping[index]!);\n        body.setAngularDamping(bodies.angularDamping[index]!);\n        body.enableCcd(!!(flags & BODY_CCD_2D));\n        body.lockRotations(!!(flags & BODY_FIXED_ROTATION_2D), false);\n        const inverseMass = bodies.inverseMass[index]!,\n          inverseInertia = bodies.inverseInertia[index]!;\n        body.setAdditionalMassProperties(\n          inverseMass > 0 ? 1 / inverseMass : 0,\n          { x: 0, y: 0 },\n          inverseInertia > 0 ? 1 / inverseInertia / (SCALE * SCALE) : 0,\n          false,\n        );\n      }\n      if (type === RAPIER.RigidBodyType.Fixed) {\n        this.bodyBindings.set(index, {\n          ...this.bodyBindings.get(index)!,\n          staticPose: [\n            bodies.positionX[index]!,\n            bodies.positionY[index]!,\n            bodies.rotationRadians[index]!,\n          ],\n        });\n        continue;\n      }\n      body.resetForces(false);\n      body.resetTorques(false);\n      body.addForce(\n        { x: bodies.forceX[index]! / SCALE, y: bodies.forceY[index]! / SCALE },\n        false,\n      );\n      body.addTorque(bodies.torque[index]! / (SCALE * SCALE), false);\n      if (flags & BODY_SLEEPING_2D) {\n        if (!body.isSleeping()) body.sleep();\n      } else if (\n        body.isSleeping() ||\n        !sleeping ||\n        flags & BODY_SLEEP_DISABLED_2D\n      )\n        body.wakeUp();\n    }\n    for (let index = 0; index < colliders.capacity; index++) {\n      const generation = colliders.generations[index]!;\n      if (!colliders.has(index, generation) || this.colliderBindings.has(index))\n        continue;\n      const shape = colliders.shapes[index]!;\n      const bodyIndex = colliders.bodyIndices[index]!;\n      const body = this.world.getRigidBody(\n        this.bodyBindings.get(bodyIndex)!.handle,\n      );\n      const material = colliders.materials[index] as {\n        friction?: number;\n        restitution?: number;\n      } | null;\n      const handles = shape.leaves.map((leaf) => {\n        const desc = leafDescriptor(\n          leaf,\n          shape,\n          bodies.localCenterX[bodyIndex]!,\n          bodies.localCenterY[bodyIndex]!,\n        );\n        desc\n          .setDensity(0)\n          .setFriction(Math.sqrt(material?.friction ?? 0.5))\n          .setRestitution(material?.restitution ?? 0)\n          .setFrictionCombineRule(RAPIER.CoefficientCombineRule.Multiply)\n          .setRestitutionCombineRule(RAPIER.CoefficientCombineRule.Max)\n          .setSensor(!!(colliders.flags[index]! & COLLIDER_SENSOR_2D))\n          .setActiveCollisionTypes(RAPIER.ActiveCollisionTypes.ALL)\n          .setActiveHooks(\n            RAPIER.ActiveHooks.FILTER_CONTACT_PAIRS |\n              RAPIER.ActiveHooks.FILTER_INTERSECTION_PAIRS,\n          );\n        return this.world.createCollider(desc, body).handle;\n      });\n      this.colliderBindings.set(index, {\n        handles,\n        generation,\n        shape,\n        body: bodyIndex,\n        centerX: bodies.localCenterX[bodyIndex]!,\n        centerY: bodies.localCenterY[bodyIndex]!,\n        feature: Math.max(0.01, Math.min(...shape.leaves.map(minimumFeature))),\n      });\n    }\n    this.rebuildColliderIndices();\n  }\n\n  private ccdSubsteps(\n    bodies: BodyStore2D,\n    colliders: ColliderStore2D,\n    dt: number,\n    gravityX: number,\n    gravityY: number,\n  ): number {\n    let required = 1;\n    for (const [index, binding] of this.colliderBindings) {\n      const body = binding.body;\n      if (\n        !(bodies.flags[body]! & BODY_CCD_2D) ||\n        !(bodies.flags[body]! & BODY_TYPE_DYNAMIC_2D) ||\n        colliders.flags[index]! & COLLIDER_SENSOR_2D\n      )\n        continue;\n      const bounds = binding.shape.localBounds;\n      const width = bounds[2]! - bounds[0]!,\n        height = bounds[3]! - bounds[1]!;\n      const feature = Math.max(0.01, Math.min(width, height, binding.feature));\n      // Bound every shape corner about the body's center of mass. Bounds can\n      // occupy opposite quadrants, and collider descriptors are COM-relative.\n      let radius = 0;\n      for (let corner = 0; corner < 4; corner++) {\n        const x =\n          (corner % 2 === 0 ? bounds[0]! : bounds[2]!) -\n          bodies.localCenterX[body]!;\n        const y =\n          (corner < 2 ? bounds[1]! : bounds[3]!) -\n          bodies.localCenterY[body]!;\n        radius = Math.max(radius, Math.hypot(x, y));\n      }\n      const acceleration = Math.hypot(\n        gravityX * bodies.gravityScale[body]! +\n          bodies.forceX[body]! * bodies.inverseMass[body]!,\n        gravityY * bodies.gravityScale[body]! +\n          bodies.forceY[body]! * bodies.inverseMass[body]!,\n      );\n      const angularAcceleration = Math.abs(\n        bodies.torque[body]! * bodies.inverseInertia[body]!,\n      );\n      const speed =\n        Math.hypot(\n          bodies.linearVelocityX[body]!,\n          bodies.linearVelocityY[body]!,\n        ) +\n        acceleration * dt +\n        (Math.abs(bodies.angularVelocity[body]!) + angularAcceleration * dt) *\n          radius;\n      required = Math.max(required, Math.ceil((speed * dt) / (feature * 0.25)));\n    }\n    if (required > 64)\n      throw new RangeError(\n        `Physics CCD requires ${required} substeps (maximum 64). Reduce velocity or fixedStepMilliseconds, or enlarge the collider.`,\n      );\n    return required;\n  }\n\n  private hasSolidContact(body: RAPIER.RigidBody): boolean {\n    let touching = false;\n    for (let i = 0; i < body.numColliders(); i++) {\n      const collider = body.collider(i);\n      if (collider.isSensor()) continue;\n      this.world.contactPairsWith(collider, (other) => {\n        if (other.isSensor()) return;\n        this.world.contactPair(collider, other, (contact) => {\n          for (let point = 0; point < contact.numContacts(); point++)\n            if (contact.contactDist(point) <= 0.5 / SCALE) touching = true;\n        });\n      });\n    }\n    return touching;\n  }\n\n  private rebuildColliderIndices(): void {\n    this.colliderIndices.clear();\n    for (const [index, binding] of this.colliderBindings)\n      for (const handle of binding.handles)\n        this.colliderIndices.set(handle, index);\n  }\n}\n\nfunction worldPoint(\n  collider: RAPIER.Collider,\n  p: RAPIER.Vector,\n): RAPIER.Vector {\n  const position = collider.translation(),\n    angle = collider.rotation();\n  return {\n    x: (position.x + Math.cos(angle) * p.x - Math.sin(angle) * p.y) * SCALE,\n    y: (position.y + Math.sin(angle) * p.x + Math.cos(angle) * p.y) * SCALE,\n  };\n}\n\nfunction leafDescriptor(\n  leaf: ConvexLeaf2D,\n  shape: ShapeRecord2D,\n  centerX: number,\n  centerY: number,\n): RAPIER.ColliderDesc {\n  // Reject overflow/underflow before crossing the f32 WASM boundary.\n  for (const [key, value] of Object.entries(leaf)) {\n    if (value instanceof Float64Array)\n      for (const number of value) validateEngineNumber(number / SCALE);\n    else if (typeof value === \"number\")\n      validateEngineNumber(key === \"rotationRadians\" ? value : value / SCALE);\n  }\n  for (const value of [shape.localPose.x, shape.localPose.y, centerX, centerY])\n    validateEngineNumber(value / SCALE);\n  let desc: RAPIER.ColliderDesc;\n  let x = 0,\n    y = 0,\n    angle = 0;\n  if (leaf.kind === \"circle\") {\n    desc = RAPIER.ColliderDesc.ball(leaf.radius / SCALE);\n    [x, y] = [leaf.center[0]!, leaf.center[1]!];\n  } else if (leaf.kind === \"box\") {\n    desc = RAPIER.ColliderDesc.cuboid(\n      leaf.halfWidth / SCALE,\n      leaf.halfHeight / SCALE,\n    );\n    [x, y] = [leaf.center[0]!, leaf.center[1]!];\n  } else if (leaf.kind === \"capsule\") {\n    const dx = leaf.end[0]! - leaf.start[0]!,\n      dy = leaf.end[1]! - leaf.start[1]!;\n    desc = RAPIER.ColliderDesc.capsule(\n      Math.hypot(dx, dy) / 2 / SCALE,\n      leaf.radius / SCALE,\n    );\n    x = (leaf.start[0]! + leaf.end[0]!) / 2;\n    y = (leaf.start[1]! + leaf.end[1]!) / 2;\n    angle = Math.atan2(dy, dx) - Math.PI / 2;\n  } else if (leaf.kind === \"segment\")\n    desc = RAPIER.ColliderDesc.segment(\n      { x: leaf.start[0]! / SCALE, y: leaf.start[1]! / SCALE },\n      { x: leaf.end[0]! / SCALE, y: leaf.end[1]! / SCALE },\n    );\n  else {\n    let vertices: Float32Array;\n    if (leaf.kind === \"polygon\")\n      vertices = Float32Array.from(leaf.vertices, (value) => value / SCALE);\n    else {\n      const radius =\n        leaf.kind === \"ellipse\"\n          ? Math.max(leaf.radiusX, leaf.radiusY)\n          : Math.max(...leaf.radii);\n      const count =\n        4 *\n        Math.max(\n          8,\n          Math.ceil(\n            Math.PI /\n              Math.acos(Math.max(-1, 1 - 0.01 / Math.max(radius, 0.01))) /\n              4,\n          ),\n        );\n      if (!Number.isFinite(count) || count > 4096)\n        throw new RangeError(\n          \"Curved physics collider requires more than 4096 vertices at 0.01-unit accuracy. Reduce its size or provide explicit collision geometry.\",\n        );\n      const points: number[] = [];\n      if (leaf.kind === \"ellipse\") {\n        const cosine = Math.cos(leaf.rotationRadians),\n          sine = Math.sin(leaf.rotationRadians);\n        for (let i = 0; i < count; i++) {\n          const x = leaf.radiusX * Math.cos((i * Math.PI * 2) / count),\n            y = leaf.radiusY * Math.sin((i * Math.PI * 2) / count);\n          points.push(\n            leaf.center[0]! + cosine * x - sine * y,\n            leaf.center[1]! + sine * x + cosine * y,\n          );\n        }\n      } else {\n        // Parametric corner arcs bound chord error by r*(1-cos(angle/2)).\n        for (let corner = 0; corner < 4; corner++) {\n          const r = leaf.radii[corner]!,\n            right = corner === 1 || corner === 2,\n            bottom = corner >= 2;\n          const cx =\n            leaf.center[0]! +\n            (right ? leaf.halfWidth - r : -leaf.halfWidth + r);\n          const cy =\n            leaf.center[1]! +\n            (bottom ? leaf.halfHeight - r : -leaf.halfHeight + r);\n          for (let i = 0; i <= count / 4; i++) {\n            const a =\n              Math.PI + (corner * Math.PI) / 2 + (i * Math.PI * 2) / count;\n            points.push(cx + r * Math.cos(a), cy + r * Math.sin(a));\n          }\n        }\n      }\n      vertices = Float32Array.from(points, (value) => value / SCALE);\n    }\n    const hull = RAPIER.ColliderDesc.convexHull(vertices);\n    if (!hull)\n      throw new Error(\n        \"Physics shape cannot form a finite convex Rapier collider.\",\n      );\n    desc = hull;\n  }\n  const cosine = Math.cos(shape.localPose.rotationRadians),\n    sine = Math.sin(shape.localPose.rotationRadians);\n  const translationX =\n    (shape.localPose.x + cosine * x - sine * y - centerX) / SCALE;\n  const translationY =\n    (shape.localPose.y + sine * x + cosine * y - centerY) / SCALE;\n  const rotation = shape.localPose.rotationRadians + angle;\n  validateEngineNumber(translationX);\n  validateEngineNumber(translationY);\n  validateEngineNumber(rotation);\n  return desc.setTranslation(translationX, translationY).setRotation(rotation);\n}\n\n// A round trip through f32 must not move an axis the engine did not change.\nfunction logicalValue(engineValue: number, previous: number): number {\n  return engineValue === Math.fround(previous / SCALE)\n    ? previous\n    : engineValue * SCALE;\n}\n\n// Bound each convex leaf separately: a distant large leaf must not hide a thin one.\nfunction minimumFeature(leaf: ConvexLeaf2D): number {\n  if (leaf.kind === \"circle\" || leaf.kind === \"capsule\") return 2 * leaf.radius;\n  if (leaf.kind === \"ellipse\") return 2 * Math.min(leaf.radiusX, leaf.radiusY);\n  if (leaf.kind === \"box\" || leaf.kind === \"rounded-box\")\n    return 2 * Math.min(leaf.halfWidth, leaf.halfHeight);\n  if (leaf.kind === \"segment\") return 0;\n  // Exhaustive edge-projection width: O(vertices\u00B2), without temporary arrays.\n  // Cached on the collider binding; this is geometry setup, not per-tick work.\n  let width = Infinity;\n  const v = leaf.vertices;\n  for (let i = 0; i < v.length; i += 2) {\n    const j = (i + 2) % v.length;\n    const dx = v[j]! - v[i]!,\n      dy = v[j + 1]! - v[i + 1]!;\n    const length = Math.hypot(dx, dy);\n    if (length === 0) continue;\n    let min = Infinity,\n      max = -Infinity;\n    for (let k = 0; k < v.length; k += 2) {\n      const projection = (v[k]! * -dy + v[k + 1]! * dx) / length;\n      min = Math.min(min, projection);\n      max = Math.max(max, projection);\n    }\n    width = Math.min(width, max - min);\n  }\n  return width;\n}\n\nfunction validateEngineNumber(value: number): void {\n  const rounded = Math.fround(value);\n  if (!Number.isFinite(rounded) || (value !== 0 && rounded === 0))\n    throw new RangeError(\n      \"Physics value cannot be represented at 100 logical units per engine meter. Reduce extreme coordinates, speeds, forces, or shape dimensions.\",\n    );\n}\n"],
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+  "names": ["cosine", "sine", "x", "y"]
+}

package/dist/features/physics/lib/2d/world/solver.d.ts

@@ -0,0 +1,58 @@
+import type { ContactCache2D } from "./contact-cache.js";
+import type { BodyStore2D } from "./storage.js";
+export declare const BODY_SLEEP_DISABLED_2D: number;
+export declare const BODY_SLEEPING_2D: number;
+export interface SleepingCandidateOptions2D {
+    readonly enabled: boolean;
+    readonly recordTransition?: (bodyIndex: number, sleeping: boolean) => void;
+}
+export declare class SequentialImpulseSolver2D {
+    constraintCount: number;
+    islandCount: number;
+    islandBodyCount: number;
+    velocityIterationsPerformed: number;
+    positionIterationsPerformed: number;
+    solvedIslandCount: number;
+    advanceEligible: boolean;
+    islandBodyIndices: Int32Array;
+    islandContactIndices: Int32Array;
+    islandBodyOffsets: Int32Array;
+    islandContactOffsets: Int32Array;
+    pointNormalMasses: Float64Array;
+    pointTangentMasses: Float64Array;
+    private sortedBodyIndices;
+    private bodyToDynamic;
+    private dynamicParents;
+    private dynamicIslandIndices;
+    private islandBodyCounts;
+    private islandContactCounts;
+    private islandBodyWrites;
+    private islandContactWrites;
+    private islandAwake;
+    private constraintContactIndices;
+    private pointFirstLocalX;
+    private pointFirstLocalY;
+    private pointSecondLocalX;
+    private pointSecondLocalY;
+    private pointVelocityBias;
+    constructor(initialBodyCapacity?: number, initialContactCapacity?: number);
+    solveCandidate(bodies: BodyStore2D, bodyIndices: Int32Array, bodyCount: number, contacts: ContactCache2D, velocityIterations?: number, positionIterations?: number, warmStart?: boolean, restitutionThreshold?: number): void;
+    updateSleepingCandidate(bodies: BodyStore2D, contacts: ContactCache2D, dt: number, options: SleepingCandidateOptions2D): boolean;
+    wakeIslandContainingCandidate(bodies: BodyStore2D, bodyIndex: number, recordTransition?: (bodyIndex: number, sleeping: boolean) => void): boolean;
+    private buildIslands;
+    private markAwakeIslands;
+    private touchesMovingKinematic;
+    private setIslandSleepTime;
+    private sleepIsland;
+    private wakeIsland;
+    private prepareConstraints;
+    private warmStart;
+    private solveVelocityConstraints;
+    private solvePositionConstraints;
+    private applyPointImpulse;
+    private dynamicIndex;
+    private findRoot;
+    private unionDynamic;
+    private ensureBodyCapacity;
+    private ensureContactCapacity;
+}