@pibbl/core 0.0.1

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

@@ -0,0 +1,7 @@
+{
+  "version": 3,
+  "sources": ["../../../../../../src/features/physics/lib/2d/world/solver.ts"],
+  "sourcesContent": ["import {\n  CONTACT_SLOP,\n  DEFAULT_POSITION_ITERATIONS,\n  DEFAULT_VELOCITY_ITERATIONS,\n  DEGREES_TO_RADIANS,\n  MAX_POSITION_CORRECTION,\n  RESTITUTION_VELOCITY_THRESHOLD,\n  SLEEP_ANGULAR_SPEED_DEGREES,\n  SLEEP_DURATION_SECONDS,\n  SLEEP_LINEAR_SPEED,\n} from \"../numeric-policy.js\";\nimport type { ContactCache2D } from \"./contact-cache.js\";\nimport { BODY_TYPE_DYNAMIC_2D, BODY_TYPE_KINEMATIC_2D } from \"./integrator.js\";\nimport type { BodyStore2D } from \"./storage.js\";\n\nconst POINTS_PER_CONTACT = 2;\nconst NO_INDEX = -1;\n\nexport const BODY_SLEEP_DISABLED_2D = 1 << 3;\nexport const BODY_SLEEPING_2D = 1 << 4;\n\nexport interface SleepingCandidateOptions2D {\n  readonly enabled: boolean;\n  readonly recordTransition?: (bodyIndex: number, sleeping: boolean) => void;\n}\n\nexport class SequentialImpulseSolver2D {\n  constraintCount = 0;\n  islandCount = 0;\n  islandBodyCount = 0;\n  velocityIterationsPerformed = 0;\n  positionIterationsPerformed = 0;\n  solvedIslandCount = 0;\n  advanceEligible = true;\n\n  islandBodyIndices: Int32Array;\n  islandContactIndices: Int32Array;\n  islandBodyOffsets: Int32Array;\n  islandContactOffsets: Int32Array;\n  pointNormalMasses: Float64Array;\n  pointTangentMasses: Float64Array;\n\n  private sortedBodyIndices: Int32Array;\n  private bodyToDynamic: Int32Array;\n  private dynamicParents: Int32Array;\n  private dynamicIslandIndices: Int32Array;\n  private islandBodyCounts: Int32Array;\n  private islandContactCounts: Int32Array;\n  private islandBodyWrites: Int32Array;\n  private islandContactWrites: Int32Array;\n  private islandAwake: Uint8Array;\n  private constraintContactIndices: Int32Array;\n  private pointFirstLocalX: Float64Array;\n  private pointFirstLocalY: Float64Array;\n  private pointSecondLocalX: Float64Array;\n  private pointSecondLocalY: Float64Array;\n  private pointVelocityBias: Float64Array;\n\n  constructor(initialBodyCapacity = 4, initialContactCapacity = 4) {\n    const bodyCapacity = normalizedCapacity(initialBodyCapacity);\n    const contactCapacity = normalizedCapacity(initialContactCapacity);\n    this.islandBodyIndices = new Int32Array(bodyCapacity);\n    this.islandContactIndices = new Int32Array(contactCapacity);\n    this.islandBodyOffsets = new Int32Array(bodyCapacity + 1);\n    this.islandContactOffsets = new Int32Array(bodyCapacity + 1);\n    this.pointNormalMasses = new Float64Array(\n      contactCapacity * POINTS_PER_CONTACT,\n    );\n    this.pointTangentMasses = new Float64Array(\n      contactCapacity * POINTS_PER_CONTACT,\n    );\n    this.sortedBodyIndices = new Int32Array(bodyCapacity);\n    this.bodyToDynamic = filledInt32(bodyCapacity, NO_INDEX);\n    this.dynamicParents = new Int32Array(bodyCapacity);\n    this.dynamicIslandIndices = new Int32Array(bodyCapacity);\n    this.islandBodyCounts = new Int32Array(bodyCapacity);\n    this.islandContactCounts = new Int32Array(bodyCapacity);\n    this.islandBodyWrites = new Int32Array(bodyCapacity);\n    this.islandContactWrites = new Int32Array(bodyCapacity);\n    this.islandAwake = new Uint8Array(bodyCapacity);\n    this.constraintContactIndices = new Int32Array(contactCapacity);\n    this.pointFirstLocalX = new Float64Array(\n      contactCapacity * POINTS_PER_CONTACT,\n    );\n    this.pointFirstLocalY = new Float64Array(\n      contactCapacity * POINTS_PER_CONTACT,\n    );\n    this.pointSecondLocalX = new Float64Array(\n      contactCapacity * POINTS_PER_CONTACT,\n    );\n    this.pointSecondLocalY = new Float64Array(\n      contactCapacity * POINTS_PER_CONTACT,\n    );\n    this.pointVelocityBias = new Float64Array(\n      contactCapacity * POINTS_PER_CONTACT,\n    );\n  }\n\n  solveCandidate(\n    bodies: BodyStore2D,\n    bodyIndices: Int32Array,\n    bodyCount: number,\n    contacts: ContactCache2D,\n    velocityIterations = DEFAULT_VELOCITY_ITERATIONS,\n    positionIterations = DEFAULT_POSITION_ITERATIONS,\n    warmStart = true,\n    restitutionThreshold = RESTITUTION_VELOCITY_THRESHOLD,\n  ): void {\n    this.ensureBodyCapacity(Math.max(bodies.capacity, bodyCount));\n    this.ensureContactCapacity(contacts.contactCount);\n    this.buildIslands(bodies, bodyIndices, bodyCount, contacts);\n    this.markAwakeIslands(bodies);\n    this.prepareConstraints(bodies, contacts, restitutionThreshold);\n    if (warmStart) this.warmStart(bodies, contacts);\n    for (let iteration = 0; iteration < velocityIterations; iteration += 1) {\n      this.solveVelocityConstraints(bodies, contacts);\n    }\n    for (let iteration = 0; iteration < positionIterations; iteration += 1) {\n      this.solvePositionConstraints(bodies, contacts);\n    }\n    this.velocityIterationsPerformed =\n      this.solvedIslandCount === 0 ? 0 : velocityIterations;\n    this.positionIterationsPerformed =\n      this.solvedIslandCount === 0 ? 0 : positionIterations;\n  }\n\n  updateSleepingCandidate(\n    bodies: BodyStore2D,\n    contacts: ContactCache2D,\n    dt: number,\n    options: SleepingCandidateOptions2D,\n  ): boolean {\n    if (!Number.isFinite(dt) || dt < 0) {\n      throw new RangeError(\"sleep dt must be finite and nonnegative.\");\n    }\n    if (!options.enabled) {\n      for (let island = 0; island < this.islandCount; island += 1) {\n        this.wakeIsland(bodies, island, options.recordTransition);\n      }\n      this.advanceEligible = true;\n      return false;\n    }\n\n    let sleepingIslands = 0;\n    for (let island = 0; island < this.islandCount; island += 1) {\n      let belowThresholds = true;\n      let sleepDisabled = false;\n      let hasSleeping = false;\n      let hasAwake = false;\n      let minimumTime = Number.POSITIVE_INFINITY;\n      for (\n        let offset = this.islandBodyOffsets[island]!;\n        offset < this.islandBodyOffsets[island + 1]!;\n        offset += 1\n      ) {\n        const body = this.islandBodyIndices[offset]!;\n        const flags = bodies.flags[body]!;\n        sleepDisabled ||= (flags & BODY_SLEEP_DISABLED_2D) !== 0;\n        hasSleeping ||= (flags & BODY_SLEEPING_2D) !== 0;\n        hasAwake ||= (flags & BODY_SLEEPING_2D) === 0;\n        minimumTime = Math.min(minimumTime, bodies.sleepTime[body]!);\n        belowThresholds &&=\n          Math.hypot(\n            bodies.linearVelocityX[body]!,\n            bodies.linearVelocityY[body]!,\n          ) < SLEEP_LINEAR_SPEED &&\n          Math.abs(bodies.angularVelocity[body]!) <\n            SLEEP_ANGULAR_SPEED_DEGREES * DEGREES_TO_RADIANS;\n      }\n      const wakeFromContact =\n        (hasSleeping && hasAwake) ||\n        this.touchesMovingKinematic(bodies, contacts, island);\n      if (sleepDisabled || wakeFromContact || !belowThresholds) {\n        this.wakeIsland(bodies, island, options.recordTransition);\n        continue;\n      }\n      if (hasSleeping) {\n        sleepingIslands += 1;\n        continue;\n      }\n      const elapsed = minimumTime + dt;\n      if (elapsed + Number.EPSILON < SLEEP_DURATION_SECONDS) {\n        this.setIslandSleepTime(bodies, island, elapsed);\n        continue;\n      }\n      this.sleepIsland(bodies, island, options.recordTransition);\n      sleepingIslands += 1;\n    }\n    const allSleeping =\n      this.islandCount > 0 && sleepingIslands === this.islandCount;\n    this.advanceEligible = !allSleeping;\n    return allSleeping;\n  }\n\n  wakeIslandContainingCandidate(\n    bodies: BodyStore2D,\n    bodyIndex: number,\n    recordTransition?: (bodyIndex: number, sleeping: boolean) => void,\n  ): boolean {\n    const dynamic = this.dynamicIndex(bodyIndex);\n    if (dynamic === NO_INDEX) return false;\n    const island = this.dynamicIslandIndices[dynamic]!;\n    const changed = this.wakeIsland(bodies, island, recordTransition);\n    this.advanceEligible = this.islandCount > 0;\n    return changed;\n  }\n\n  private buildIslands(\n    bodies: BodyStore2D,\n    bodyIndices: Int32Array,\n    bodyCount: number,\n    contacts: ContactCache2D,\n  ): void {\n    let dynamicCount = 0;\n    this.bodyToDynamic.fill(NO_INDEX);\n    for (let source = 0; source < bodyCount; source += 1) {\n      const body = bodyIndices[source]!;\n      if (!isDynamic(bodies, body)) continue;\n      let insertion = dynamicCount;\n      while (insertion > 0 && this.sortedBodyIndices[insertion - 1]! > body) {\n        this.sortedBodyIndices[insertion] =\n          this.sortedBodyIndices[insertion - 1]!;\n        insertion -= 1;\n      }\n      this.sortedBodyIndices[insertion] = body;\n      dynamicCount += 1;\n    }\n    for (let dynamic = 0; dynamic < dynamicCount; dynamic += 1) {\n      this.bodyToDynamic[this.sortedBodyIndices[dynamic]!] = dynamic;\n      this.dynamicParents[dynamic] = dynamic;\n    }\n\n    this.constraintCount = 0;\n    for (let contact = 0; contact < contacts.contactCount; contact += 1) {\n      if (\n        contacts.sensorFlags[contact] !== 0 ||\n        contacts.pointCounts[contact] === 0\n      )\n        continue;\n      const firstDynamic = this.dynamicIndex(\n        contacts.firstBodyIndices[contact]!,\n      );\n      const secondDynamic = this.dynamicIndex(\n        contacts.secondBodyIndices[contact]!,\n      );\n      if (firstDynamic === NO_INDEX && secondDynamic === NO_INDEX) continue;\n      this.constraintContactIndices[this.constraintCount] = contact;\n      this.constraintCount += 1;\n      if (firstDynamic !== NO_INDEX && secondDynamic !== NO_INDEX) {\n        this.unionDynamic(firstDynamic, secondDynamic);\n      }\n    }\n\n    this.islandCount = 0;\n    this.islandBodyCounts.fill(0);\n    this.islandContactCounts.fill(0);\n    for (let dynamic = 0; dynamic < dynamicCount; dynamic += 1) {\n      const root = this.findRoot(dynamic);\n      if (root === dynamic) {\n        this.dynamicIslandIndices[root] = this.islandCount;\n        this.islandCount += 1;\n      }\n    }\n    for (let dynamic = 0; dynamic < dynamicCount; dynamic += 1) {\n      const island = this.dynamicIslandIndices[this.findRoot(dynamic)]!;\n      this.dynamicIslandIndices[dynamic] = island;\n      this.islandBodyCounts[island] += 1;\n    }\n    for (\n      let constraint = 0;\n      constraint < this.constraintCount;\n      constraint += 1\n    ) {\n      const contact = this.constraintContactIndices[constraint]!;\n      const firstDynamic = this.dynamicIndex(\n        contacts.firstBodyIndices[contact]!,\n      );\n      const secondDynamic = this.dynamicIndex(\n        contacts.secondBodyIndices[contact]!,\n      );\n      const dynamic = firstDynamic !== NO_INDEX ? firstDynamic : secondDynamic;\n      const island = this.dynamicIslandIndices[dynamic]!;\n      this.islandContactCounts[island] += 1;\n    }\n\n    this.islandBodyOffsets[0] = 0;\n    this.islandContactOffsets[0] = 0;\n    for (let island = 0; island < this.islandCount; island += 1) {\n      this.islandBodyOffsets[island + 1] =\n        this.islandBodyOffsets[island]! + this.islandBodyCounts[island]!;\n      this.islandContactOffsets[island + 1] =\n        this.islandContactOffsets[island]! + this.islandContactCounts[island]!;\n      this.islandBodyWrites[island] = this.islandBodyOffsets[island]!;\n      this.islandContactWrites[island] = this.islandContactOffsets[island]!;\n    }\n    for (let dynamic = 0; dynamic < dynamicCount; dynamic += 1) {\n      const island = this.dynamicIslandIndices[dynamic]!;\n      const target = this.islandBodyWrites[island]!;\n      this.islandBodyIndices[target] = this.sortedBodyIndices[dynamic]!;\n      this.islandBodyWrites[island] = target + 1;\n    }\n    for (\n      let constraint = 0;\n      constraint < this.constraintCount;\n      constraint += 1\n    ) {\n      const contact = this.constraintContactIndices[constraint]!;\n      const firstDynamic = this.dynamicIndex(\n        contacts.firstBodyIndices[contact]!,\n      );\n      const secondDynamic = this.dynamicIndex(\n        contacts.secondBodyIndices[contact]!,\n      );\n      const dynamic = firstDynamic !== NO_INDEX ? firstDynamic : secondDynamic;\n      const island = this.dynamicIslandIndices[dynamic]!;\n      const target = this.islandContactWrites[island]!;\n      this.islandContactIndices[target] = contact;\n      this.islandContactWrites[island] = target + 1;\n    }\n    this.islandBodyCount = dynamicCount;\n  }\n\n  private markAwakeIslands(bodies: BodyStore2D): void {\n    this.solvedIslandCount = 0;\n    for (let island = 0; island < this.islandCount; island += 1) {\n      let awake = false;\n      for (\n        let offset = this.islandBodyOffsets[island]!;\n        offset < this.islandBodyOffsets[island + 1]!;\n        offset += 1\n      ) {\n        if (\n          (bodies.flags[this.islandBodyIndices[offset]!]! &\n            BODY_SLEEPING_2D) ===\n          0\n        ) {\n          awake = true;\n          break;\n        }\n      }\n      this.islandAwake[island] = awake ? 1 : 0;\n      if (awake) this.solvedIslandCount += 1;\n    }\n  }\n\n  private touchesMovingKinematic(\n    bodies: BodyStore2D,\n    contacts: ContactCache2D,\n    island: number,\n  ): boolean {\n    for (\n      let offset = this.islandContactOffsets[island]!;\n      offset < this.islandContactOffsets[island + 1]!;\n      offset += 1\n    ) {\n      const contact = this.islandContactIndices[offset]!;\n      const first = contacts.firstBodyIndices[contact]!;\n      const second = contacts.secondBodyIndices[contact]!;\n      if (\n        isMovingKinematic(bodies, first) ||\n        isMovingKinematic(bodies, second)\n      ) {\n        return true;\n      }\n    }\n    return false;\n  }\n\n  private setIslandSleepTime(\n    bodies: BodyStore2D,\n    island: number,\n    sleepTime: number,\n  ): void {\n    for (\n      let offset = this.islandBodyOffsets[island]!;\n      offset < this.islandBodyOffsets[island + 1]!;\n      offset += 1\n    ) {\n      bodies.sleepTime[this.islandBodyIndices[offset]!] = sleepTime;\n    }\n  }\n\n  private sleepIsland(\n    bodies: BodyStore2D,\n    island: number,\n    recordTransition?: (bodyIndex: number, sleeping: boolean) => void,\n  ): void {\n    for (\n      let offset = this.islandBodyOffsets[island]!;\n      offset < this.islandBodyOffsets[island + 1]!;\n      offset += 1\n    ) {\n      const body = this.islandBodyIndices[offset]!;\n      bodies.flags[body] |= BODY_SLEEPING_2D;\n      bodies.sleepTime[body] = SLEEP_DURATION_SECONDS;\n      bodies.linearVelocityX[body] = 0;\n      bodies.linearVelocityY[body] = 0;\n      bodies.angularVelocity[body] = 0;\n      recordTransition?.(body, true);\n    }\n  }\n\n  private wakeIsland(\n    bodies: BodyStore2D,\n    island: number,\n    recordTransition?: (bodyIndex: number, sleeping: boolean) => void,\n  ): boolean {\n    let changed = false;\n    for (\n      let offset = this.islandBodyOffsets[island]!;\n      offset < this.islandBodyOffsets[island + 1]!;\n      offset += 1\n    ) {\n      const body = this.islandBodyIndices[offset]!;\n      const wasSleeping = (bodies.flags[body]! & BODY_SLEEPING_2D) !== 0;\n      bodies.flags[body] &= ~BODY_SLEEPING_2D;\n      bodies.sleepTime[body] = 0;\n      if (wasSleeping) {\n        changed = true;\n        recordTransition?.(body, false);\n      }\n    }\n    return changed;\n  }\n\n  private prepareConstraints(\n    bodies: BodyStore2D,\n    contacts: ContactCache2D,\n    restitutionThreshold: number,\n  ): void {\n    for (\n      let constraint = 0;\n      constraint < this.constraintCount;\n      constraint += 1\n    ) {\n      const contact = this.constraintContactIndices[constraint]!;\n      const firstBody = contacts.firstBodyIndices[contact]!;\n      const secondBody = contacts.secondBodyIndices[contact]!;\n      const normalX = contacts.normalX[contact]!;\n      const normalY = contacts.normalY[contact]!;\n      const tangentX = -normalY;\n      const tangentY = normalX;\n      const firstInverseMass = bodies.inverseMass[firstBody]!;\n      const secondInverseMass = bodies.inverseMass[secondBody]!;\n      const firstInverseInertia = bodies.inverseInertia[firstBody]!;\n      const secondInverseInertia = bodies.inverseInertia[secondBody]!;\n      const firstCosine = Math.cos(bodies.rotationRadians[firstBody]!);\n      const firstSine = Math.sin(bodies.rotationRadians[firstBody]!);\n      const secondCosine = Math.cos(bodies.rotationRadians[secondBody]!);\n      const secondSine = Math.sin(bodies.rotationRadians[secondBody]!);\n      const base = contact * POINTS_PER_CONTACT;\n      for (let point = 0; point < contacts.pointCounts[contact]!; point += 1) {\n        const index = base + point;\n        const firstWorldX =\n          contacts.pointFirstX[index]! - bodies.positionX[firstBody]!;\n        const firstWorldY =\n          contacts.pointFirstY[index]! - bodies.positionY[firstBody]!;\n        const secondWorldX =\n          contacts.pointSecondX[index]! - bodies.positionX[secondBody]!;\n        const secondWorldY =\n          contacts.pointSecondY[index]! - bodies.positionY[secondBody]!;\n        this.pointFirstLocalX[index] =\n          firstCosine * firstWorldX + firstSine * firstWorldY;\n        this.pointFirstLocalY[index] =\n          -firstSine * firstWorldX + firstCosine * firstWorldY;\n        this.pointSecondLocalX[index] =\n          secondCosine * secondWorldX + secondSine * secondWorldY;\n        this.pointSecondLocalY[index] =\n          -secondSine * secondWorldX + secondCosine * secondWorldY;\n        const firstNormalCross = cross(\n          firstWorldX,\n          firstWorldY,\n          normalX,\n          normalY,\n        );\n        const secondNormalCross = cross(\n          secondWorldX,\n          secondWorldY,\n          normalX,\n          normalY,\n        );\n        const normalDenominator =\n          firstInverseMass +\n          secondInverseMass +\n          firstInverseInertia * firstNormalCross * firstNormalCross +\n          secondInverseInertia * secondNormalCross * secondNormalCross;\n        this.pointNormalMasses[index] =\n          normalDenominator > 0 ? 1 / normalDenominator : 0;\n        const firstTangentCross = cross(\n          firstWorldX,\n          firstWorldY,\n          tangentX,\n          tangentY,\n        );\n        const secondTangentCross = cross(\n          secondWorldX,\n          secondWorldY,\n          tangentX,\n          tangentY,\n        );\n        const tangentDenominator =\n          firstInverseMass +\n          secondInverseMass +\n          firstInverseInertia * firstTangentCross * firstTangentCross +\n          secondInverseInertia * secondTangentCross * secondTangentCross;\n        this.pointTangentMasses[index] =\n          tangentDenominator > 0 ? 1 / tangentDenominator : 0;\n        const normalVelocity = relativeVelocityAlong(\n          bodies,\n          firstBody,\n          secondBody,\n          firstWorldX,\n          firstWorldY,\n          secondWorldX,\n          secondWorldY,\n          normalX,\n          normalY,\n        );\n        this.pointVelocityBias[index] =\n          normalVelocity < -restitutionThreshold\n            ? contacts.mixedRestitution[contact]! * normalVelocity\n            : 0;\n      }\n    }\n  }\n\n  private warmStart(bodies: BodyStore2D, contacts: ContactCache2D): void {\n    for (let island = 0; island < this.islandCount; island += 1) {\n      if (this.islandAwake[island] === 0) continue;\n      for (\n        let offset = this.islandContactOffsets[island]!;\n        offset < this.islandContactOffsets[island + 1]!;\n        offset += 1\n      ) {\n        const contact = this.islandContactIndices[offset]!;\n        const normalX = contacts.normalX[contact]!;\n        const normalY = contacts.normalY[contact]!;\n        const tangentX = -normalY;\n        const tangentY = normalX;\n        const base = contact * POINTS_PER_CONTACT;\n        for (\n          let point = 0;\n          point < contacts.pointCounts[contact]!;\n          point += 1\n        ) {\n          const index = base + point;\n          this.applyPointImpulse(\n            bodies,\n            contacts,\n            contact,\n            index,\n            normalX * contacts.pointNormalImpulses[index]! +\n              tangentX * contacts.pointTangentImpulses[index]!,\n            normalY * contacts.pointNormalImpulses[index]! +\n              tangentY * contacts.pointTangentImpulses[index]!,\n          );\n        }\n      }\n    }\n  }\n\n  private solveVelocityConstraints(\n    bodies: BodyStore2D,\n    contacts: ContactCache2D,\n  ): void {\n    for (let island = 0; island < this.islandCount; island += 1) {\n      if (this.islandAwake[island] === 0) continue;\n      for (\n        let offset = this.islandContactOffsets[island]!;\n        offset < this.islandContactOffsets[island + 1]!;\n        offset += 1\n      ) {\n        const contact = this.islandContactIndices[offset]!;\n        const firstBody = contacts.firstBodyIndices[contact]!;\n        const secondBody = contacts.secondBodyIndices[contact]!;\n        const normalX = contacts.normalX[contact]!;\n        const normalY = contacts.normalY[contact]!;\n        const tangentX = -normalY;\n        const tangentY = normalX;\n        const firstCosine = Math.cos(bodies.rotationRadians[firstBody]!);\n        const firstSine = Math.sin(bodies.rotationRadians[firstBody]!);\n        const secondCosine = Math.cos(bodies.rotationRadians[secondBody]!);\n        const secondSine = Math.sin(bodies.rotationRadians[secondBody]!);\n        const base = contact * POINTS_PER_CONTACT;\n        for (\n          let point = 0;\n          point < contacts.pointCounts[contact]!;\n          point += 1\n        ) {\n          const index = base + point;\n          const firstX =\n            firstCosine * this.pointFirstLocalX[index]! -\n            firstSine * this.pointFirstLocalY[index]!;\n          const firstY =\n            firstSine * this.pointFirstLocalX[index]! +\n            firstCosine * this.pointFirstLocalY[index]!;\n          const secondX =\n            secondCosine * this.pointSecondLocalX[index]! -\n            secondSine * this.pointSecondLocalY[index]!;\n          const secondY =\n            secondSine * this.pointSecondLocalX[index]! +\n            secondCosine * this.pointSecondLocalY[index]!;\n          const normalVelocity = relativeVelocityAlong(\n            bodies,\n            firstBody,\n            secondBody,\n            firstX,\n            firstY,\n            secondX,\n            secondY,\n            normalX,\n            normalY,\n          );\n          const normalDelta =\n            -this.pointNormalMasses[index]! *\n            (normalVelocity + this.pointVelocityBias[index]!);\n          const previousNormal = contacts.pointNormalImpulses[index]!;\n          const accumulatedNormal = Math.max(0, previousNormal + normalDelta);\n          contacts.pointNormalImpulses[index] = accumulatedNormal;\n          const appliedNormal = accumulatedNormal - previousNormal;\n          this.applyPointImpulse(\n            bodies,\n            contacts,\n            contact,\n            index,\n            normalX * appliedNormal,\n            normalY * appliedNormal,\n          );\n\n          const tangentVelocity = relativeVelocityAlong(\n            bodies,\n            firstBody,\n            secondBody,\n            firstX,\n            firstY,\n            secondX,\n            secondY,\n            tangentX,\n            tangentY,\n          );\n          const tangentDelta =\n            -this.pointTangentMasses[index]! * tangentVelocity;\n          const previousTangent = contacts.pointTangentImpulses[index]!;\n          const frictionLimit =\n            contacts.mixedFriction[contact]! * accumulatedNormal;\n          const accumulatedTangent = Math.max(\n            -frictionLimit,\n            Math.min(frictionLimit, previousTangent + tangentDelta),\n          );\n          contacts.pointTangentImpulses[index] = accumulatedTangent;\n          const appliedTangent = accumulatedTangent - previousTangent;\n          this.applyPointImpulse(\n            bodies,\n            contacts,\n            contact,\n            index,\n            tangentX * appliedTangent,\n            tangentY * appliedTangent,\n          );\n        }\n      }\n    }\n  }\n\n  private solvePositionConstraints(\n    bodies: BodyStore2D,\n    contacts: ContactCache2D,\n  ): void {\n    for (let island = 0; island < this.islandCount; island += 1) {\n      if (this.islandAwake[island] === 0) continue;\n      for (\n        let offset = this.islandContactOffsets[island]!;\n        offset < this.islandContactOffsets[island + 1]!;\n        offset += 1\n      ) {\n        const contact = this.islandContactIndices[offset]!;\n        const firstBody = contacts.firstBodyIndices[contact]!;\n        const secondBody = contacts.secondBodyIndices[contact]!;\n        const normalX = contacts.normalX[contact]!;\n        const normalY = contacts.normalY[contact]!;\n        const base = contact * POINTS_PER_CONTACT;\n        for (\n          let point = 0;\n          point < contacts.pointCounts[contact]!;\n          point += 1\n        ) {\n          const index = base + point;\n          const firstAngle = bodies.rotationRadians[firstBody]!;\n          const secondAngle = bodies.rotationRadians[secondBody]!;\n          const firstCosine = Math.cos(firstAngle);\n          const firstSine = Math.sin(firstAngle);\n          const secondCosine = Math.cos(secondAngle);\n          const secondSine = Math.sin(secondAngle);\n          const firstX =\n            firstCosine * this.pointFirstLocalX[index]! -\n            firstSine * this.pointFirstLocalY[index]!;\n          const firstY =\n            firstSine * this.pointFirstLocalX[index]! +\n            firstCosine * this.pointFirstLocalY[index]!;\n          const secondX =\n            secondCosine * this.pointSecondLocalX[index]! -\n            secondSine * this.pointSecondLocalY[index]!;\n          const secondY =\n            secondSine * this.pointSecondLocalX[index]! +\n            secondCosine * this.pointSecondLocalY[index]!;\n          const separation =\n            (bodies.positionX[firstBody]! +\n              firstX -\n              bodies.positionX[secondBody]! -\n              secondX) *\n              normalX +\n            (bodies.positionY[firstBody]! +\n              firstY -\n              bodies.positionY[secondBody]! -\n              secondY) *\n              normalY;\n          const correction = Math.min(\n            MAX_POSITION_CORRECTION,\n            Math.max(0, -(separation + CONTACT_SLOP)),\n          );\n          if (correction === 0) continue;\n          const firstCross = cross(firstX, firstY, normalX, normalY);\n          const secondCross = cross(secondX, secondY, normalX, normalY);\n          const denominator =\n            bodies.inverseMass[firstBody]! +\n            bodies.inverseMass[secondBody]! +\n            bodies.inverseInertia[firstBody]! * firstCross * firstCross +\n            bodies.inverseInertia[secondBody]! * secondCross * secondCross;\n          if (denominator <= 0) continue;\n          const impulse = correction / denominator;\n          bodies.positionX[firstBody] +=\n            normalX * impulse * bodies.inverseMass[firstBody]!;\n          bodies.positionY[firstBody] +=\n            normalY * impulse * bodies.inverseMass[firstBody]!;\n          bodies.rotationRadians[firstBody] +=\n            firstCross * impulse * bodies.inverseInertia[firstBody]!;\n          bodies.positionX[secondBody] -=\n            normalX * impulse * bodies.inverseMass[secondBody]!;\n          bodies.positionY[secondBody] -=\n            normalY * impulse * bodies.inverseMass[secondBody]!;\n          bodies.rotationRadians[secondBody] -=\n            secondCross * impulse * bodies.inverseInertia[secondBody]!;\n        }\n      }\n    }\n  }\n\n  private applyPointImpulse(\n    bodies: BodyStore2D,\n    contacts: ContactCache2D,\n    contact: number,\n    pointIndex: number,\n    impulseX: number,\n    impulseY: number,\n  ): void {\n    const firstBody = contacts.firstBodyIndices[contact]!;\n    const secondBody = contacts.secondBodyIndices[contact]!;\n    const firstAngle = bodies.rotationRadians[firstBody]!;\n    const secondAngle = bodies.rotationRadians[secondBody]!;\n    const firstCosine = Math.cos(firstAngle);\n    const firstSine = Math.sin(firstAngle);\n    const secondCosine = Math.cos(secondAngle);\n    const secondSine = Math.sin(secondAngle);\n    const firstX =\n      firstCosine * this.pointFirstLocalX[pointIndex]! -\n      firstSine * this.pointFirstLocalY[pointIndex]!;\n    const firstY =\n      firstSine * this.pointFirstLocalX[pointIndex]! +\n      firstCosine * this.pointFirstLocalY[pointIndex]!;\n    const secondX =\n      secondCosine * this.pointSecondLocalX[pointIndex]! -\n      secondSine * this.pointSecondLocalY[pointIndex]!;\n    const secondY =\n      secondSine * this.pointSecondLocalX[pointIndex]! +\n      secondCosine * this.pointSecondLocalY[pointIndex]!;\n    bodies.linearVelocityX[firstBody] +=\n      impulseX * bodies.inverseMass[firstBody]!;\n    bodies.linearVelocityY[firstBody] +=\n      impulseY * bodies.inverseMass[firstBody]!;\n    bodies.angularVelocity[firstBody] +=\n      cross(firstX, firstY, impulseX, impulseY) *\n      bodies.inverseInertia[firstBody]!;\n    bodies.linearVelocityX[secondBody] -=\n      impulseX * bodies.inverseMass[secondBody]!;\n    bodies.linearVelocityY[secondBody] -=\n      impulseY * bodies.inverseMass[secondBody]!;\n    bodies.angularVelocity[secondBody] -=\n      cross(secondX, secondY, impulseX, impulseY) *\n      bodies.inverseInertia[secondBody]!;\n  }\n\n  private dynamicIndex(body: number): number {\n    return body >= 0 && body < this.bodyToDynamic.length\n      ? this.bodyToDynamic[body]!\n      : NO_INDEX;\n  }\n\n  private findRoot(dynamic: number): number {\n    let root = dynamic;\n    while (this.dynamicParents[root] !== root)\n      root = this.dynamicParents[root]!;\n    let current = dynamic;\n    while (this.dynamicParents[current] !== current) {\n      const parent = this.dynamicParents[current]!;\n      this.dynamicParents[current] = root;\n      current = parent;\n    }\n    return root;\n  }\n\n  private unionDynamic(first: number, second: number): void {\n    const firstRoot = this.findRoot(first);\n    const secondRoot = this.findRoot(second);\n    if (firstRoot === secondRoot) return;\n    if (\n      this.sortedBodyIndices[firstRoot]! <= this.sortedBodyIndices[secondRoot]!\n    ) {\n      this.dynamicParents[secondRoot] = firstRoot;\n    } else {\n      this.dynamicParents[firstRoot] = secondRoot;\n    }\n  }\n\n  private ensureBodyCapacity(required: number): void {\n    if (required <= this.sortedBodyIndices.length) return;\n    let capacity = this.sortedBodyIndices.length;\n    while (capacity < required) capacity *= 2;\n    this.islandBodyIndices = growInt32(this.islandBodyIndices, capacity);\n    this.islandBodyOffsets = growInt32(this.islandBodyOffsets, capacity + 1);\n    this.islandContactOffsets = growInt32(\n      this.islandContactOffsets,\n      capacity + 1,\n    );\n    this.sortedBodyIndices = growInt32(this.sortedBodyIndices, capacity);\n    this.bodyToDynamic = growInt32(this.bodyToDynamic, capacity, NO_INDEX);\n    this.dynamicParents = growInt32(this.dynamicParents, capacity);\n    this.dynamicIslandIndices = growInt32(this.dynamicIslandIndices, capacity);\n    this.islandBodyCounts = growInt32(this.islandBodyCounts, capacity);\n    this.islandContactCounts = growInt32(this.islandContactCounts, capacity);\n    this.islandBodyWrites = growInt32(this.islandBodyWrites, capacity);\n    this.islandContactWrites = growInt32(this.islandContactWrites, capacity);\n    this.islandAwake = growUint8(this.islandAwake, capacity);\n  }\n\n  private ensureContactCapacity(required: number): void {\n    if (required <= this.constraintContactIndices.length) return;\n    let capacity = this.constraintContactIndices.length;\n    while (capacity < required) capacity *= 2;\n    this.islandContactIndices = growInt32(this.islandContactIndices, capacity);\n    this.constraintContactIndices = growInt32(\n      this.constraintContactIndices,\n      capacity,\n    );\n    const pointCapacity = capacity * POINTS_PER_CONTACT;\n    this.pointNormalMasses = growFloat64(this.pointNormalMasses, pointCapacity);\n    this.pointTangentMasses = growFloat64(\n      this.pointTangentMasses,\n      pointCapacity,\n    );\n    this.pointFirstLocalX = growFloat64(this.pointFirstLocalX, pointCapacity);\n    this.pointFirstLocalY = growFloat64(this.pointFirstLocalY, pointCapacity);\n    this.pointSecondLocalX = growFloat64(this.pointSecondLocalX, pointCapacity);\n    this.pointSecondLocalY = growFloat64(this.pointSecondLocalY, pointCapacity);\n    this.pointVelocityBias = growFloat64(this.pointVelocityBias, pointCapacity);\n  }\n}\n\nfunction isMovingKinematic(bodies: BodyStore2D, body: number): boolean {\n  return (\n    body >= 0 &&\n    body < bodies.capacity &&\n    (bodies.flags[body]! & BODY_TYPE_KINEMATIC_2D) !== 0 &&\n    (bodies.linearVelocityX[body] !== 0 ||\n      bodies.linearVelocityY[body] !== 0 ||\n      bodies.angularVelocity[body] !== 0)\n  );\n}\n\nfunction isDynamic(bodies: BodyStore2D, body: number): boolean {\n  return (\n    body >= 0 &&\n    body < bodies.capacity &&\n    (bodies.flags[body]! & BODY_TYPE_DYNAMIC_2D) !== 0 &&\n    bodies.inverseMass[body]! > 0\n  );\n}\n\nfunction relativeVelocityAlong(\n  bodies: BodyStore2D,\n  firstBody: number,\n  secondBody: number,\n  firstX: number,\n  firstY: number,\n  secondX: number,\n  secondY: number,\n  axisX: number,\n  axisY: number,\n): number {\n  const firstAngular = bodies.angularVelocity[firstBody]!;\n  const secondAngular = bodies.angularVelocity[secondBody]!;\n  const relativeX =\n    bodies.linearVelocityX[firstBody]! -\n    firstAngular * firstY -\n    bodies.linearVelocityX[secondBody]! +\n    secondAngular * secondY;\n  const relativeY =\n    bodies.linearVelocityY[firstBody]! +\n    firstAngular * firstX -\n    bodies.linearVelocityY[secondBody]! -\n    secondAngular * secondX;\n  return relativeX * axisX + relativeY * axisY;\n}\n\nfunction cross(ax: number, ay: number, bx: number, by: number): number {\n  return ax * by - ay * bx;\n}\n\nfunction normalizedCapacity(initialCapacity: number): number {\n  if (!Number.isInteger(initialCapacity) || initialCapacity < 1) {\n    throw new RangeError(\"initialCapacity must be a positive integer.\");\n  }\n  let capacity = 1;\n  while (capacity < initialCapacity) capacity *= 2;\n  return capacity;\n}\n\nfunction filledInt32(capacity: number, fill: number): Int32Array {\n  const result = new Int32Array(capacity);\n  result.fill(fill);\n  return result;\n}\n\nfunction growInt32(\n  source: Int32Array,\n  capacity: number,\n  fill?: number,\n): Int32Array {\n  const result = new Int32Array(capacity);\n  if (fill !== undefined) result.fill(fill);\n  result.set(source);\n  return result;\n}\n\nfunction growFloat64(source: Float64Array, capacity: number): Float64Array {\n  const result = new Float64Array(capacity);\n  result.set(source);\n  return result;\n}\n\nfunction growUint8(source: Uint8Array, capacity: number): Uint8Array {\n  const result = new Uint8Array(capacity);\n  result.set(source);\n  return result;\n}\n"],
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+  "names": []
+}

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

@@ -0,0 +1,96 @@
+import type { ShapeRecord2D } from "../shape-records.js";
+import type { PhysicsOwnershipCounters2D } from "../runtime/ownership.js";
+export interface BodyDefinition2D {
+    readonly positionX: number;
+    readonly positionY: number;
+    readonly rotationRadians: number;
+    readonly localCenterX?: number;
+    readonly localCenterY?: number;
+    readonly linearVelocityX: number;
+    readonly linearVelocityY: number;
+    readonly angularVelocity: number;
+    readonly forceX: number;
+    readonly forceY: number;
+    readonly torque: number;
+    readonly inverseMass: number;
+    readonly inverseInertia: number;
+    readonly linearDamping: number;
+    readonly angularDamping: number;
+    readonly gravityScale: number;
+    readonly sleepTime: number;
+    readonly flags: number;
+    readonly owner: unknown;
+}
+export interface ColliderDefinition2D {
+    readonly bodyIndex: number;
+    readonly bodyGeneration: number;
+    readonly shape: ShapeRecord2D;
+    readonly material: unknown;
+    readonly filter: unknown;
+    readonly tag: unknown;
+    readonly handlers: unknown;
+    readonly owner: unknown;
+    readonly flags: number;
+}
+export declare class BodyStore2D {
+    private readonly counters;
+    positionX: Float64Array;
+    positionY: Float64Array;
+    rotationRadians: Float64Array;
+    localCenterX: Float64Array;
+    localCenterY: Float64Array;
+    linearVelocityX: Float64Array;
+    linearVelocityY: Float64Array;
+    angularVelocity: Float64Array;
+    forceX: Float64Array;
+    forceY: Float64Array;
+    torque: Float64Array;
+    inverseMass: Float64Array;
+    inverseInertia: Float64Array;
+    linearDamping: Float64Array;
+    angularDamping: Float64Array;
+    gravityScale: Float64Array;
+    sleepTime: Float64Array;
+    flags: Uint32Array;
+    generations: Uint32Array;
+    owners: (unknown | null)[];
+    private active;
+    private nextFree;
+    private freeHead;
+    constructor(counters: PhysicsOwnershipCounters2D, initialCapacity?: number);
+    get capacity(): number;
+    allocate(definition: BodyDefinition2D): number;
+    has(index: number, generation: number): boolean;
+    readPositionInto(index: number, generation: number, output: Float64Array, outputOffset: number): boolean;
+    setPosition(index: number, generation: number, positionX: number, positionY: number): boolean;
+    release(index: number, generation: number): boolean;
+    private grow;
+}
+export declare class ColliderStore2D {
+    private readonly counters;
+    bodyIndices: Int32Array;
+    bodyGenerations: Uint32Array;
+    proxyIndices: Int32Array;
+    proxyGenerations: Uint32Array;
+    flags: Uint32Array;
+    generations: Uint32Array;
+    shapes: (ShapeRecord2D | null)[];
+    materials: (unknown | null)[];
+    filters: (unknown | null)[];
+    tags: (unknown | null)[];
+    handlers: (unknown | null)[];
+    owners: (unknown | null)[];
+    private active;
+    private nextFree;
+    private freeHead;
+    constructor(counters: PhysicsOwnershipCounters2D, initialCapacity?: number);
+    get capacity(): number;
+    allocate(definition: ColliderDefinition2D): number;
+    has(index: number, generation: number): boolean;
+    shapeAt(index: number, generation: number): ShapeRecord2D | undefined;
+    tagAt(index: number, generation: number): unknown;
+    setTag(index: number, generation: number, tag: unknown): boolean;
+    setProxy(index: number, generation: number, proxyIndex: number, proxyGeneration: number): boolean;
+    release(index: number, generation: number): boolean;
+    private grow;
+}

package/dist/features/physics/lib/2d/world/storage.js

@@ -0,0 +1,371 @@
+const DEFAULT_CAPACITY = 4;
+const NO_INDEX = -1;
+const MAX_GENERATION = 4294967295;
+class BodyStore2D {
+  constructor(counters, initialCapacity = DEFAULT_CAPACITY) {
+    this.counters = counters;
+    const capacity = normalizedCapacity(initialCapacity);
+    this.positionX = new Float64Array(capacity);
+    this.positionY = new Float64Array(capacity);
+    this.rotationRadians = new Float64Array(capacity);
+    this.localCenterX = new Float64Array(capacity);
+    this.localCenterY = new Float64Array(capacity);
+    this.linearVelocityX = new Float64Array(capacity);
+    this.linearVelocityY = new Float64Array(capacity);
+    this.angularVelocity = new Float64Array(capacity);
+    this.forceX = new Float64Array(capacity);
+    this.forceY = new Float64Array(capacity);
+    this.torque = new Float64Array(capacity);
+    this.inverseMass = new Float64Array(capacity);
+    this.inverseInertia = new Float64Array(capacity);
+    this.linearDamping = new Float64Array(capacity);
+    this.angularDamping = new Float64Array(capacity);
+    this.gravityScale = new Float64Array(capacity);
+    this.sleepTime = new Float64Array(capacity);
+    this.flags = new Uint32Array(capacity);
+    this.generations = new Uint32Array(capacity);
+    this.owners = createReferenceArray(capacity);
+    this.active = new Uint8Array(capacity);
+    this.nextFree = createFreeList(capacity, 0);
+    this.freeHead = 0;
+    counters.bodyCapacity = capacity;
+    counters.freeBodySlots = capacity;
+  }
+  counters;
+  positionX;
+  positionY;
+  rotationRadians;
+  localCenterX;
+  localCenterY;
+  linearVelocityX;
+  linearVelocityY;
+  angularVelocity;
+  forceX;
+  forceY;
+  torque;
+  inverseMass;
+  inverseInertia;
+  linearDamping;
+  angularDamping;
+  gravityScale;
+  sleepTime;
+  flags;
+  generations;
+  owners;
+  active;
+  nextFree;
+  freeHead = NO_INDEX;
+  get capacity() {
+    return this.positionX.length;
+  }
+  allocate(definition) {
+    if (this.freeHead === NO_INDEX) this.grow();
+    const index = this.freeHead;
+    this.freeHead = this.nextFree[index];
+    this.nextFree[index] = NO_INDEX;
+    this.active[index] = 1;
+    this.generations[index] = nextGeneration(this.generations[index]);
+    this.positionX[index] = definition.positionX;
+    this.positionY[index] = definition.positionY;
+    this.rotationRadians[index] = definition.rotationRadians;
+    this.localCenterX[index] = definition.localCenterX ?? 0;
+    this.localCenterY[index] = definition.localCenterY ?? 0;
+    this.linearVelocityX[index] = definition.linearVelocityX;
+    this.linearVelocityY[index] = definition.linearVelocityY;
+    this.angularVelocity[index] = definition.angularVelocity;
+    this.forceX[index] = definition.forceX;
+    this.forceY[index] = definition.forceY;
+    this.torque[index] = definition.torque;
+    this.inverseMass[index] = definition.inverseMass;
+    this.inverseInertia[index] = definition.inverseInertia;
+    this.linearDamping[index] = definition.linearDamping;
+    this.angularDamping[index] = definition.angularDamping;
+    this.gravityScale[index] = definition.gravityScale;
+    this.sleepTime[index] = definition.sleepTime;
+    this.flags[index] = definition.flags;
+    this.owners[index] = definition.owner;
+    this.counters.bodyAllocations += 1;
+    this.counters.liveBodies += 1;
+    this.counters.freeBodySlots -= 1;
+    return index;
+  }
+  has(index, generation) {
+    return isLive(this.active, this.generations, index, generation);
+  }
+  readPositionInto(index, generation, output, outputOffset) {
+    if (!this.has(index, generation)) return false;
+    output[outputOffset] = this.positionX[index];
+    output[outputOffset + 1] = this.positionY[index];
+    return true;
+  }
+  setPosition(index, generation, positionX, positionY) {
+    if (!this.has(index, generation)) return false;
+    this.positionX[index] = positionX;
+    this.positionY[index] = positionY;
+    return true;
+  }
+  release(index, generation) {
+    if (!this.has(index, generation)) return false;
+    this.active[index] = 0;
+    this.positionX[index] = 0;
+    this.positionY[index] = 0;
+    this.rotationRadians[index] = 0;
+    this.localCenterX[index] = 0;
+    this.localCenterY[index] = 0;
+    this.linearVelocityX[index] = 0;
+    this.linearVelocityY[index] = 0;
+    this.angularVelocity[index] = 0;
+    this.forceX[index] = 0;
+    this.forceY[index] = 0;
+    this.torque[index] = 0;
+    this.inverseMass[index] = 0;
+    this.inverseInertia[index] = 0;
+    this.linearDamping[index] = 0;
+    this.angularDamping[index] = 0;
+    this.gravityScale[index] = 0;
+    this.sleepTime[index] = 0;
+    this.flags[index] = 0;
+    this.owners[index] = null;
+    this.counters.bodyReleases += 1;
+    this.counters.liveBodies -= 1;
+    if (generation === MAX_GENERATION) {
+      this.nextFree[index] = NO_INDEX;
+      this.counters.retiredBodySlots += 1;
+    } else {
+      this.nextFree[index] = this.freeHead;
+      this.freeHead = index;
+      this.counters.freeBodySlots += 1;
+    }
+    return true;
+  }
+  grow() {
+    const oldCapacity = this.capacity;
+    const capacity = oldCapacity * 2;
+    this.positionX = growFloat64(this.positionX, capacity);
+    this.positionY = growFloat64(this.positionY, capacity);
+    this.rotationRadians = growFloat64(this.rotationRadians, capacity);
+    this.localCenterX = growFloat64(this.localCenterX, capacity);
+    this.localCenterY = growFloat64(this.localCenterY, capacity);
+    this.linearVelocityX = growFloat64(this.linearVelocityX, capacity);
+    this.linearVelocityY = growFloat64(this.linearVelocityY, capacity);
+    this.angularVelocity = growFloat64(this.angularVelocity, capacity);
+    this.forceX = growFloat64(this.forceX, capacity);
+    this.forceY = growFloat64(this.forceY, capacity);
+    this.torque = growFloat64(this.torque, capacity);
+    this.inverseMass = growFloat64(this.inverseMass, capacity);
+    this.inverseInertia = growFloat64(this.inverseInertia, capacity);
+    this.linearDamping = growFloat64(this.linearDamping, capacity);
+    this.angularDamping = growFloat64(this.angularDamping, capacity);
+    this.gravityScale = growFloat64(this.gravityScale, capacity);
+    this.sleepTime = growFloat64(this.sleepTime, capacity);
+    this.flags = growUint32(this.flags, capacity);
+    this.generations = growUint32(this.generations, capacity);
+    this.owners = growReferences(this.owners, capacity);
+    this.active = growUint8(this.active, capacity);
+    this.nextFree = growFreeList(this.nextFree, capacity, oldCapacity);
+    this.freeHead = oldCapacity;
+    this.counters.bodyCapacity = capacity;
+    this.counters.bodyCapacityGrowths += 1;
+    this.counters.freeBodySlots += capacity - oldCapacity;
+  }
+}
+class ColliderStore2D {
+  constructor(counters, initialCapacity = DEFAULT_CAPACITY) {
+    this.counters = counters;
+    const capacity = normalizedCapacity(initialCapacity);
+    this.bodyIndices = new Int32Array(capacity);
+    this.bodyIndices.fill(NO_INDEX);
+    this.bodyGenerations = new Uint32Array(capacity);
+    this.proxyIndices = new Int32Array(capacity);
+    this.proxyIndices.fill(NO_INDEX);
+    this.proxyGenerations = new Uint32Array(capacity);
+    this.flags = new Uint32Array(capacity);
+    this.generations = new Uint32Array(capacity);
+    this.shapes = createReferenceArray(capacity);
+    this.materials = createReferenceArray(capacity);
+    this.filters = createReferenceArray(capacity);
+    this.tags = createReferenceArray(capacity);
+    this.handlers = createReferenceArray(capacity);
+    this.owners = createReferenceArray(capacity);
+    this.active = new Uint8Array(capacity);
+    this.nextFree = createFreeList(capacity, 0);
+    this.freeHead = 0;
+    counters.colliderCapacity = capacity;
+    counters.freeColliderSlots = capacity;
+  }
+  counters;
+  bodyIndices;
+  bodyGenerations;
+  proxyIndices;
+  proxyGenerations;
+  flags;
+  generations;
+  shapes;
+  materials;
+  filters;
+  tags;
+  handlers;
+  owners;
+  active;
+  nextFree;
+  freeHead = NO_INDEX;
+  get capacity() {
+    return this.bodyIndices.length;
+  }
+  allocate(definition) {
+    if (this.freeHead === NO_INDEX) this.grow();
+    const index = this.freeHead;
+    this.freeHead = this.nextFree[index];
+    this.nextFree[index] = NO_INDEX;
+    this.active[index] = 1;
+    this.generations[index] = nextGeneration(this.generations[index]);
+    this.bodyIndices[index] = definition.bodyIndex;
+    this.bodyGenerations[index] = definition.bodyGeneration;
+    this.proxyIndices[index] = NO_INDEX;
+    this.proxyGenerations[index] = 0;
+    this.flags[index] = definition.flags;
+    this.shapes[index] = definition.shape;
+    this.materials[index] = definition.material;
+    this.filters[index] = definition.filter;
+    this.tags[index] = definition.tag;
+    this.handlers[index] = definition.handlers;
+    this.owners[index] = definition.owner;
+    this.counters.colliderAllocations += 1;
+    this.counters.liveColliders += 1;
+    this.counters.freeColliderSlots -= 1;
+    return index;
+  }
+  has(index, generation) {
+    return isLive(this.active, this.generations, index, generation);
+  }
+  shapeAt(index, generation) {
+    if (!this.has(index, generation)) return void 0;
+    return this.shapes[index] ?? void 0;
+  }
+  tagAt(index, generation) {
+    if (!this.has(index, generation)) return void 0;
+    return this.tags[index] ?? void 0;
+  }
+  setTag(index, generation, tag) {
+    if (!this.has(index, generation)) return false;
+    this.tags[index] = tag;
+    return true;
+  }
+  setProxy(index, generation, proxyIndex, proxyGeneration) {
+    if (!this.has(index, generation)) return false;
+    this.proxyIndices[index] = proxyIndex;
+    this.proxyGenerations[index] = proxyGeneration;
+    return true;
+  }
+  release(index, generation) {
+    if (!this.has(index, generation)) return false;
+    this.active[index] = 0;
+    this.bodyIndices[index] = NO_INDEX;
+    this.bodyGenerations[index] = 0;
+    this.proxyIndices[index] = NO_INDEX;
+    this.proxyGenerations[index] = 0;
+    this.flags[index] = 0;
+    this.shapes[index] = null;
+    this.materials[index] = null;
+    this.filters[index] = null;
+    this.tags[index] = null;
+    this.handlers[index] = null;
+    this.owners[index] = null;
+    this.counters.colliderReleases += 1;
+    this.counters.liveColliders -= 1;
+    if (generation === MAX_GENERATION) {
+      this.nextFree[index] = NO_INDEX;
+      this.counters.retiredColliderSlots += 1;
+    } else {
+      this.nextFree[index] = this.freeHead;
+      this.freeHead = index;
+      this.counters.freeColliderSlots += 1;
+    }
+    return true;
+  }
+  grow() {
+    const oldCapacity = this.capacity;
+    const capacity = oldCapacity * 2;
+    this.bodyIndices = growInt32(this.bodyIndices, capacity, NO_INDEX);
+    this.bodyGenerations = growUint32(this.bodyGenerations, capacity);
+    this.proxyIndices = growInt32(this.proxyIndices, capacity, NO_INDEX);
+    this.proxyGenerations = growUint32(this.proxyGenerations, capacity);
+    this.flags = growUint32(this.flags, capacity);
+    this.generations = growUint32(this.generations, capacity);
+    this.shapes = growReferences(this.shapes, capacity);
+    this.materials = growReferences(this.materials, capacity);
+    this.filters = growReferences(this.filters, capacity);
+    this.tags = growReferences(this.tags, capacity);
+    this.handlers = growReferences(this.handlers, capacity);
+    this.owners = growReferences(this.owners, capacity);
+    this.active = growUint8(this.active, capacity);
+    this.nextFree = growFreeList(this.nextFree, capacity, oldCapacity);
+    this.freeHead = oldCapacity;
+    this.counters.colliderCapacity = capacity;
+    this.counters.colliderCapacityGrowths += 1;
+    this.counters.freeColliderSlots += capacity - oldCapacity;
+  }
+}
+function normalizedCapacity(initialCapacity) {
+  if (!Number.isInteger(initialCapacity) || initialCapacity < 1) {
+    throw new RangeError("initialCapacity must be a positive integer.");
+  }
+  let capacity = 1;
+  while (capacity < initialCapacity) capacity *= 2;
+  return capacity;
+}
+function nextGeneration(generation) {
+  return generation + 1;
+}
+function isLive(active, generations, index, generation) {
+  return Number.isInteger(index) && index >= 0 && index < active.length && active[index] === 1 && generations[index] === generation;
+}
+function createFreeList(capacity, start) {
+  const result = new Int32Array(capacity);
+  result.fill(NO_INDEX);
+  for (let index = start; index + 1 < capacity; index += 1) {
+    result[index] = index + 1;
+  }
+  return result;
+}
+function growFreeList(source, capacity, start) {
+  const result = createFreeList(capacity, start);
+  result.set(source);
+  return result;
+}
+function createReferenceArray(capacity) {
+  return Array(capacity).fill(null);
+}
+function growReferences(source, capacity) {
+  const result = createReferenceArray(capacity);
+  for (let index = 0; index < source.length; index += 1) {
+    result[index] = source[index];
+  }
+  return result;
+}
+function growFloat64(source, capacity) {
+  const result = new Float64Array(capacity);
+  result.set(source);
+  return result;
+}
+function growUint32(source, capacity) {
+  const result = new Uint32Array(capacity);
+  result.set(source);
+  return result;
+}
+function growUint8(source, capacity) {
+  const result = new Uint8Array(capacity);
+  result.set(source);
+  return result;
+}
+function growInt32(source, capacity, fill) {
+  const result = new Int32Array(capacity);
+  result.fill(fill);
+  result.set(source);
+  return result;
+}
+export {
+  BodyStore2D,
+  ColliderStore2D
+};
+//# sourceMappingURL=storage.js.map

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

@@ -0,0 +1,7 @@
+{
+  "version": 3,
+  "sources": ["../../../../../../src/features/physics/lib/2d/world/storage.ts"],
+  "sourcesContent": ["import type { ShapeRecord2D } from \"../shape-records.js\";\nimport type { PhysicsOwnershipCounters2D } from \"../runtime/ownership.js\";\n\nconst DEFAULT_CAPACITY = 4;\nconst NO_INDEX = -1;\nconst MAX_GENERATION = 0xffff_ffff;\n\nexport interface BodyDefinition2D {\n  readonly positionX: number;\n  readonly positionY: number;\n  readonly rotationRadians: number;\n  readonly localCenterX?: number;\n  readonly localCenterY?: number;\n  readonly linearVelocityX: number;\n  readonly linearVelocityY: number;\n  readonly angularVelocity: number;\n  readonly forceX: number;\n  readonly forceY: number;\n  readonly torque: number;\n  readonly inverseMass: number;\n  readonly inverseInertia: number;\n  readonly linearDamping: number;\n  readonly angularDamping: number;\n  readonly gravityScale: number;\n  readonly sleepTime: number;\n  readonly flags: number;\n  readonly owner: unknown;\n}\n\nexport interface ColliderDefinition2D {\n  readonly bodyIndex: number;\n  readonly bodyGeneration: number;\n  readonly shape: ShapeRecord2D;\n  readonly material: unknown;\n  readonly filter: unknown;\n  readonly tag: unknown;\n  readonly handlers: unknown;\n  readonly owner: unknown;\n  readonly flags: number;\n}\n\nexport class BodyStore2D {\n  positionX: Float64Array;\n  positionY: Float64Array;\n  rotationRadians: Float64Array;\n  localCenterX: Float64Array;\n  localCenterY: Float64Array;\n  linearVelocityX: Float64Array;\n  linearVelocityY: Float64Array;\n  angularVelocity: Float64Array;\n  forceX: Float64Array;\n  forceY: Float64Array;\n  torque: Float64Array;\n  inverseMass: Float64Array;\n  inverseInertia: Float64Array;\n  linearDamping: Float64Array;\n  angularDamping: Float64Array;\n  gravityScale: Float64Array;\n  sleepTime: Float64Array;\n  flags: Uint32Array;\n  generations: Uint32Array;\n  owners: (unknown | null)[];\n\n  private active: Uint8Array;\n  private nextFree: Int32Array;\n  private freeHead = NO_INDEX;\n\n  constructor(\n    private readonly counters: PhysicsOwnershipCounters2D,\n    initialCapacity = DEFAULT_CAPACITY,\n  ) {\n    const capacity = normalizedCapacity(initialCapacity);\n    this.positionX = new Float64Array(capacity);\n    this.positionY = new Float64Array(capacity);\n    this.rotationRadians = new Float64Array(capacity);\n    this.localCenterX = new Float64Array(capacity);\n    this.localCenterY = new Float64Array(capacity);\n    this.linearVelocityX = new Float64Array(capacity);\n    this.linearVelocityY = new Float64Array(capacity);\n    this.angularVelocity = new Float64Array(capacity);\n    this.forceX = new Float64Array(capacity);\n    this.forceY = new Float64Array(capacity);\n    this.torque = new Float64Array(capacity);\n    this.inverseMass = new Float64Array(capacity);\n    this.inverseInertia = new Float64Array(capacity);\n    this.linearDamping = new Float64Array(capacity);\n    this.angularDamping = new Float64Array(capacity);\n    this.gravityScale = new Float64Array(capacity);\n    this.sleepTime = new Float64Array(capacity);\n    this.flags = new Uint32Array(capacity);\n    this.generations = new Uint32Array(capacity);\n    this.owners = createReferenceArray(capacity);\n    this.active = new Uint8Array(capacity);\n    this.nextFree = createFreeList(capacity, 0);\n    this.freeHead = 0;\n    counters.bodyCapacity = capacity;\n    counters.freeBodySlots = capacity;\n  }\n\n  get capacity(): number {\n    return this.positionX.length;\n  }\n\n  allocate(definition: BodyDefinition2D): number {\n    if (this.freeHead === NO_INDEX) this.grow();\n    const index = this.freeHead;\n    this.freeHead = this.nextFree[index]!;\n    this.nextFree[index] = NO_INDEX;\n    this.active[index] = 1;\n    this.generations[index] = nextGeneration(this.generations[index]!);\n    this.positionX[index] = definition.positionX;\n    this.positionY[index] = definition.positionY;\n    this.rotationRadians[index] = definition.rotationRadians;\n    this.localCenterX[index] = definition.localCenterX ?? 0;\n    this.localCenterY[index] = definition.localCenterY ?? 0;\n    this.linearVelocityX[index] = definition.linearVelocityX;\n    this.linearVelocityY[index] = definition.linearVelocityY;\n    this.angularVelocity[index] = definition.angularVelocity;\n    this.forceX[index] = definition.forceX;\n    this.forceY[index] = definition.forceY;\n    this.torque[index] = definition.torque;\n    this.inverseMass[index] = definition.inverseMass;\n    this.inverseInertia[index] = definition.inverseInertia;\n    this.linearDamping[index] = definition.linearDamping;\n    this.angularDamping[index] = definition.angularDamping;\n    this.gravityScale[index] = definition.gravityScale;\n    this.sleepTime[index] = definition.sleepTime;\n    this.flags[index] = definition.flags;\n    this.owners[index] = definition.owner;\n    this.counters.bodyAllocations += 1;\n    this.counters.liveBodies += 1;\n    this.counters.freeBodySlots -= 1;\n    return index;\n  }\n\n  has(index: number, generation: number): boolean {\n    return isLive(this.active, this.generations, index, generation);\n  }\n\n  readPositionInto(\n    index: number,\n    generation: number,\n    output: Float64Array,\n    outputOffset: number,\n  ): boolean {\n    if (!this.has(index, generation)) return false;\n    output[outputOffset] = this.positionX[index]!;\n    output[outputOffset + 1] = this.positionY[index]!;\n    return true;\n  }\n\n  setPosition(\n    index: number,\n    generation: number,\n    positionX: number,\n    positionY: number,\n  ): boolean {\n    if (!this.has(index, generation)) return false;\n    this.positionX[index] = positionX;\n    this.positionY[index] = positionY;\n    return true;\n  }\n\n  release(index: number, generation: number): boolean {\n    if (!this.has(index, generation)) return false;\n    this.active[index] = 0;\n    this.positionX[index] = 0;\n    this.positionY[index] = 0;\n    this.rotationRadians[index] = 0;\n    this.localCenterX[index] = 0;\n    this.localCenterY[index] = 0;\n    this.linearVelocityX[index] = 0;\n    this.linearVelocityY[index] = 0;\n    this.angularVelocity[index] = 0;\n    this.forceX[index] = 0;\n    this.forceY[index] = 0;\n    this.torque[index] = 0;\n    this.inverseMass[index] = 0;\n    this.inverseInertia[index] = 0;\n    this.linearDamping[index] = 0;\n    this.angularDamping[index] = 0;\n    this.gravityScale[index] = 0;\n    this.sleepTime[index] = 0;\n    this.flags[index] = 0;\n    this.owners[index] = null;\n    this.counters.bodyReleases += 1;\n    this.counters.liveBodies -= 1;\n    if (generation === MAX_GENERATION) {\n      this.nextFree[index] = NO_INDEX;\n      this.counters.retiredBodySlots += 1;\n    } else {\n      this.nextFree[index] = this.freeHead;\n      this.freeHead = index;\n      this.counters.freeBodySlots += 1;\n    }\n    return true;\n  }\n\n  private grow(): void {\n    const oldCapacity = this.capacity;\n    const capacity = oldCapacity * 2;\n    this.positionX = growFloat64(this.positionX, capacity);\n    this.positionY = growFloat64(this.positionY, capacity);\n    this.rotationRadians = growFloat64(this.rotationRadians, capacity);\n    this.localCenterX = growFloat64(this.localCenterX, capacity);\n    this.localCenterY = growFloat64(this.localCenterY, capacity);\n    this.linearVelocityX = growFloat64(this.linearVelocityX, capacity);\n    this.linearVelocityY = growFloat64(this.linearVelocityY, capacity);\n    this.angularVelocity = growFloat64(this.angularVelocity, capacity);\n    this.forceX = growFloat64(this.forceX, capacity);\n    this.forceY = growFloat64(this.forceY, capacity);\n    this.torque = growFloat64(this.torque, capacity);\n    this.inverseMass = growFloat64(this.inverseMass, capacity);\n    this.inverseInertia = growFloat64(this.inverseInertia, capacity);\n    this.linearDamping = growFloat64(this.linearDamping, capacity);\n    this.angularDamping = growFloat64(this.angularDamping, capacity);\n    this.gravityScale = growFloat64(this.gravityScale, capacity);\n    this.sleepTime = growFloat64(this.sleepTime, capacity);\n    this.flags = growUint32(this.flags, capacity);\n    this.generations = growUint32(this.generations, capacity);\n    this.owners = growReferences(this.owners, capacity);\n    this.active = growUint8(this.active, capacity);\n    this.nextFree = growFreeList(this.nextFree, capacity, oldCapacity);\n    this.freeHead = oldCapacity;\n    this.counters.bodyCapacity = capacity;\n    this.counters.bodyCapacityGrowths += 1;\n    this.counters.freeBodySlots += capacity - oldCapacity;\n  }\n}\n\nexport class ColliderStore2D {\n  bodyIndices: Int32Array;\n  bodyGenerations: Uint32Array;\n  proxyIndices: Int32Array;\n  proxyGenerations: Uint32Array;\n  flags: Uint32Array;\n  generations: Uint32Array;\n  shapes: (ShapeRecord2D | null)[];\n  materials: (unknown | null)[];\n  filters: (unknown | null)[];\n  tags: (unknown | null)[];\n  handlers: (unknown | null)[];\n  owners: (unknown | null)[];\n\n  private active: Uint8Array;\n  private nextFree: Int32Array;\n  private freeHead = NO_INDEX;\n\n  constructor(\n    private readonly counters: PhysicsOwnershipCounters2D,\n    initialCapacity = DEFAULT_CAPACITY,\n  ) {\n    const capacity = normalizedCapacity(initialCapacity);\n    this.bodyIndices = new Int32Array(capacity);\n    this.bodyIndices.fill(NO_INDEX);\n    this.bodyGenerations = new Uint32Array(capacity);\n    this.proxyIndices = new Int32Array(capacity);\n    this.proxyIndices.fill(NO_INDEX);\n    this.proxyGenerations = new Uint32Array(capacity);\n    this.flags = new Uint32Array(capacity);\n    this.generations = new Uint32Array(capacity);\n    this.shapes = createReferenceArray<ShapeRecord2D>(capacity);\n    this.materials = createReferenceArray(capacity);\n    this.filters = createReferenceArray(capacity);\n    this.tags = createReferenceArray(capacity);\n    this.handlers = createReferenceArray(capacity);\n    this.owners = createReferenceArray(capacity);\n    this.active = new Uint8Array(capacity);\n    this.nextFree = createFreeList(capacity, 0);\n    this.freeHead = 0;\n    counters.colliderCapacity = capacity;\n    counters.freeColliderSlots = capacity;\n  }\n\n  get capacity(): number {\n    return this.bodyIndices.length;\n  }\n\n  allocate(definition: ColliderDefinition2D): number {\n    if (this.freeHead === NO_INDEX) this.grow();\n    const index = this.freeHead;\n    this.freeHead = this.nextFree[index]!;\n    this.nextFree[index] = NO_INDEX;\n    this.active[index] = 1;\n    this.generations[index] = nextGeneration(this.generations[index]!);\n    this.bodyIndices[index] = definition.bodyIndex;\n    this.bodyGenerations[index] = definition.bodyGeneration;\n    this.proxyIndices[index] = NO_INDEX;\n    this.proxyGenerations[index] = 0;\n    this.flags[index] = definition.flags;\n    this.shapes[index] = definition.shape;\n    this.materials[index] = definition.material;\n    this.filters[index] = definition.filter;\n    this.tags[index] = definition.tag;\n    this.handlers[index] = definition.handlers;\n    this.owners[index] = definition.owner;\n    this.counters.colliderAllocations += 1;\n    this.counters.liveColliders += 1;\n    this.counters.freeColliderSlots -= 1;\n    return index;\n  }\n\n  has(index: number, generation: number): boolean {\n    return isLive(this.active, this.generations, index, generation);\n  }\n\n  shapeAt(index: number, generation: number): ShapeRecord2D | undefined {\n    if (!this.has(index, generation)) return undefined;\n    return this.shapes[index] ?? undefined;\n  }\n\n  tagAt(index: number, generation: number): unknown {\n    if (!this.has(index, generation)) return undefined;\n    return this.tags[index] ?? undefined;\n  }\n\n  setTag(index: number, generation: number, tag: unknown): boolean {\n    if (!this.has(index, generation)) return false;\n    this.tags[index] = tag;\n    return true;\n  }\n\n  setProxy(\n    index: number,\n    generation: number,\n    proxyIndex: number,\n    proxyGeneration: number,\n  ): boolean {\n    if (!this.has(index, generation)) return false;\n    this.proxyIndices[index] = proxyIndex;\n    this.proxyGenerations[index] = proxyGeneration;\n    return true;\n  }\n\n  release(index: number, generation: number): boolean {\n    if (!this.has(index, generation)) return false;\n    this.active[index] = 0;\n    this.bodyIndices[index] = NO_INDEX;\n    this.bodyGenerations[index] = 0;\n    this.proxyIndices[index] = NO_INDEX;\n    this.proxyGenerations[index] = 0;\n    this.flags[index] = 0;\n    this.shapes[index] = null;\n    this.materials[index] = null;\n    this.filters[index] = null;\n    this.tags[index] = null;\n    this.handlers[index] = null;\n    this.owners[index] = null;\n    this.counters.colliderReleases += 1;\n    this.counters.liveColliders -= 1;\n    if (generation === MAX_GENERATION) {\n      this.nextFree[index] = NO_INDEX;\n      this.counters.retiredColliderSlots += 1;\n    } else {\n      this.nextFree[index] = this.freeHead;\n      this.freeHead = index;\n      this.counters.freeColliderSlots += 1;\n    }\n    return true;\n  }\n\n  private grow(): void {\n    const oldCapacity = this.capacity;\n    const capacity = oldCapacity * 2;\n    this.bodyIndices = growInt32(this.bodyIndices, capacity, NO_INDEX);\n    this.bodyGenerations = growUint32(this.bodyGenerations, capacity);\n    this.proxyIndices = growInt32(this.proxyIndices, capacity, NO_INDEX);\n    this.proxyGenerations = growUint32(this.proxyGenerations, capacity);\n    this.flags = growUint32(this.flags, capacity);\n    this.generations = growUint32(this.generations, capacity);\n    this.shapes = growReferences(this.shapes, capacity);\n    this.materials = growReferences(this.materials, capacity);\n    this.filters = growReferences(this.filters, capacity);\n    this.tags = growReferences(this.tags, capacity);\n    this.handlers = growReferences(this.handlers, capacity);\n    this.owners = 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