@pibbl/core 0.0.2 → 0.0.3-alpha.109.1

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

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

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

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