@realitycollective/webxr-interactions 0.1.1-preview.2 → 0.1.1-preview.3

package/dist/near-pointer-contract-cases.js.map

@@ -0,0 +1 @@
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* The shared near-pointer conformance suite: the touch press, the grip grab,\n * pointer priority with its selection lock, and the ray and cursor visuals\n * (`near-pointer.ts`), run through a binding's own `HitTester` so every\n * platform proves the same rule over its own scene queries.\n *\n * Runner-free, like `hitTesterContractCases()`: an adapter's test file is a\n * loop over these cases with the same subject factory it already uses for\n * the hit-tester suite. The suite drives an `InteractionRuntime` itself, with\n * a scripted provider, so the only platform code under test is the hit\n * tester and the targets the driver places.\n *\n * Every distance below is metres to the target's SURFACE, the quantity the\n * touch and grab pointers compare (IWSDK's sphere intersector reports the\n * distance from the fingertip to the point on the mesh).\n */\nimport {\n  NO_CAPABILITIES,\n  type InputCapabilities,\n  type InputProvider,\n  type InputSourceSnapshot,\n  type Vec3Tuple,\n} from \"@realitycollective/webxr-input\";\nimport type { HitTesterContractSubject } from \"./contract-cases.js\";\nimport type { InteractionEvent } from \"./events.js\";\nimport { NEAR_POINTER_DEFAULTS, type PointerVisuals } from \"./near-pointer.js\";\nimport { InteractionRuntime } from \"./runtime.js\";\n\n/** One check a binding's hit tester must pass under the near-pointer rule. */\nexport interface NearPointerContractCase {\n  name: string;\n  run(subject: HitTesterContractSubject): void;\n}\n\n/**\n * The shared near-pointer conformance suite. An adapter's test file:\n *\n * ```ts\n * for (const contractCase of nearPointerContractCases()) {\n *   it(contractCase.name, () => contractCase.run(makeSubject()));\n * }\n * ```\n */\nexport function nearPointerContractCases(): readonly NearPointerContractCase[] {\n  return NEAR_POINTER_CASES;\n}\n\n/** A provider whose sources a case sets frame by frame. */\nclass ScriptedProvider implements InputProvider {\n  sources: InputSourceSnapshot[] = [];\n  private readonly capabilities: InputCapabilities = {\n    ...NO_CAPABILITIES,\n    rays: true,\n    pokes: true,\n    grabs: \"poseOnly\",\n    handJoints: true,\n    pinch: true,\n    headPose: false,\n    gaze: false,\n  };\n\n  getCapabilities(): InputCapabilities {\n    return this.capabilities;\n  }\n\n  onCapabilitiesChanged(): () => void {\n    return () => undefined;\n  }\n\n  onSourcesChanged(): () => void {\n    return () => undefined;\n  }\n\n  sample(): readonly InputSourceSnapshot[] {\n    return this.sources;\n  }\n}\n\nconst CENTRE: Vec3Tuple = [0, 1, -1];\nconst RADIUS = 0.1;\n/** A ray from the viewer straight through the target. */\nconst RAY_AT = { origin: [0, 1, 0] as Vec3Tuple, direction: [0, 0, -1] as Vec3Tuple };\n/** A ray pointing away from everything. */\nconst RAY_AWAY = { origin: [0, 1, 0] as Vec3Tuple, direction: [0, 0, 1] as Vec3Tuple };\nconst FAR: Vec3Tuple = [0, 1, 1];\n\n/** A point `distance` metres outside the target's surface, on its near side. */\nfunction outside(distance: number): Vec3Tuple {\n  return [CENTRE[0], CENTRE[1], CENTRE[2] + RADIUS + distance];\n}\n\ninterface HandFrame {\n  tip?: Vec3Tuple;\n  grip?: Vec3Tuple;\n  ray?: \"at\" | \"away\" | \"none\";\n  select?: number;\n  squeeze?: number;\n  kind?: \"hand\" | \"controller\";\n}\n\nfunction hand(frame: HandFrame): InputSourceSnapshot {\n  const snapshot: InputSourceSnapshot = {\n    id: \"right\",\n    kind: frame.kind ?? \"hand\",\n    handedness: \"right\",\n    select: frame.select ?? 0,\n    squeeze: frame.squeeze ?? 0,\n  };\n  const ray = frame.ray ?? \"away\";\n  if (ray !== \"none\") snapshot.ray = ray === \"at\" ? { ...RAY_AT } : { ...RAY_AWAY };\n  snapshot.indexTip = frame.tip ?? FAR;\n  snapshot.gripPose = { position: frame.grip ?? FAR, quaternion: [0, 0, 0, 1] };\n  return snapshot;\n}\n\ninterface Rig {\n  runtime: InteractionRuntime;\n  provider: ScriptedProvider;\n  events: InteractionEvent[];\n  visuals: PointerVisuals[];\n  /** Feed one frame and return the event types it produced. */\n  frame(frame: HandFrame): string[];\n}\n\nfunction rig(subject: HitTesterContractSubject, behaviours: Array<{ kind: \"press\" } | { kind: \"grab\" }> = [{ kind: \"press\" }]): Rig {\n  subject.driver.place(\"target\", CENTRE, RADIUS);\n  const provider = new ScriptedProvider();\n  const runtime = new InteractionRuntime({ provider, hitTester: subject.hitTester, velocity: false });\n  const events: InteractionEvent[] = [];\n  const visuals: PointerVisuals[] = [];\n  runtime.onEvent((event) => events.push(event));\n  runtime.onPointerVisuals((list) => {\n    visuals.length = 0;\n    visuals.push(...list);\n  });\n  runtime.registerInteractable({ id: \"target\", behaviours });\n  return {\n    runtime,\n    provider,\n    events,\n    visuals,\n    frame(frame) {\n      const before = events.length;\n      provider.sources = [hand(frame)];\n      runtime.update(1 / 60);\n      return events.slice(before).map((event) => event.type);\n    },\n  };\n}\n\nfunction assert(condition: boolean, message: string): asserts condition {\n  if (!condition) throw new Error(message);\n}\n\nfunction expectActive(r: Rig, kind: string | null, when: string): void {\n  const active = r.runtime.getActivePointer(\"right\");\n  assert(active === kind, `${when}: the active pointer must be ${String(kind)}, got ${String(active)}`);\n}\n\nconst D = NEAR_POINTER_DEFAULTS;\n\nconst NEAR_POINTER_CASES: readonly NearPointerContractCase[] = [\n  {\n    name: \"a fingertip approaching from outside hovers at 0.15 m, presses at 0.02 m, releases on the way out and stops hovering beyond 0.2 m\",\n    run(subject) {\n      const r = rig(subject);\n      r.frame({ tip: outside(0.3) });\n      expectActive(r, null, \"at 0.3 m\");\n      let types = r.frame({ tip: outside(D.touchHoverEnter - 0.01) });\n      expectActive(r, \"touch\", \"inside the hover enter distance\");\n      assert(types.includes(\"hoverEnter\"), \"entering the hover band must raise hoverEnter\");\n      types = r.frame({ tip: outside(0.05) });\n      assert(!types.includes(\"pressStart\"), \"5 cm out must not press\");\n      types = r.frame({ tip: outside(D.touchDown) });\n      assert(types.includes(\"pressStart\"), \"reaching the press distance must raise pressStart\");\n      assert(r.runtime.getState(\"target\")?.pressed === true, \"the target must be pressed\");\n      types = r.frame({ tip: outside(0.005) });\n      assert(!types.includes(\"pressEnd\") && !types.includes(\"pressStart\"), \"going deeper must change nothing\");\n      types = r.frame({ tip: outside(D.touchDown + 0.01) });\n      assert(types.includes(\"pressEnd\"), \"coming back out past the press distance must release\");\n      r.frame({ tip: outside(D.touchHoverEnter + 0.02) });\n      expectActive(r, \"touch\", \"between enter and exit while hovering (hysteresis)\");\n      types = r.frame({ tip: outside(D.touchHoverExit + 0.01) });\n      expectActive(r, null, \"beyond the exit distance\");\n      assert(types.includes(\"hoverExit\"), \"leaving the exit distance must raise hoverExit\");\n    },\n  },\n  {\n    name: \"a fingertip first seen inside the press band never presses until it has been outside it\",\n    run(subject) {\n      const r = rig(subject);\n      let types = r.frame({ tip: outside(0.01) });\n      assert(types.includes(\"hoverEnter\") && !types.includes(\"pressStart\"), \"a fingertip that appears inside the band hovers but must not press\");\n      types = r.frame({ tip: outside(0.0) });\n      assert(!types.includes(\"pressStart\"), \"staying inside must not press\");\n      r.frame({ tip: outside(0.05) });\n      types = r.frame({ tip: outside(0.015) });\n      assert(types.includes(\"pressStart\"), \"coming back in from outside must press\");\n    },\n  },\n  {\n    name: \"a grip within 0.07 m of the surface makes grab the active pointer and a squeeze grabs that target\",\n    run(subject) {\n      const r = rig(subject, [{ kind: \"grab\" }]);\n      r.frame({ grip: outside(D.grabRadius - 0.02), ray: \"at\" });\n      expectActive(r, \"grab\", \"grip inside the grab radius, ray also hitting\");\n      let types = r.frame({ grip: outside(D.grabRadius - 0.02), ray: \"at\", squeeze: 1 });\n      assert(types.includes(\"grabStart\"), \"a squeeze while grab owns the hand must grab\");\n      types = r.frame({ grip: outside(D.grabRadius - 0.02), ray: \"at\", squeeze: 0 });\n      assert(types.includes(\"grabEnd\"), \"releasing the squeeze must end the grab\");\n      r.frame({ grip: outside(D.grabRadius + 0.01), ray: \"away\" });\n      expectActive(r, null, \"grip outside the grab radius with no ray hit\");\n    },\n  },\n  {\n    name: \"touch beats grab beats ray\",\n    run(subject) {\n      const r = rig(subject);\n      r.frame({ tip: outside(0.1), grip: outside(0.05), ray: \"at\" });\n      expectActive(r, \"touch\", \"fingertip, grip and ray all on the target\");\n      r.frame({ grip: outside(0.05), ray: \"at\" });\n      expectActive(r, \"grab\", \"grip and ray on the target\");\n      r.frame({ ray: \"at\" });\n      expectActive(r, \"ray\", \"only the ray on the target\");\n      r.frame({ ray: \"away\" });\n      expectActive(r, null, \"nothing on the target\");\n    },\n  },\n  {\n    name: \"the ray and its cursor show only while the ray owns the source, and the cursor sits at the active pointer's hit\",\n    run(subject) {\n      const r = rig(subject);\n      r.frame({ ray: \"at\" });\n      let v = r.visuals[0]!;\n      assert(v.ray && v.cursor && v.cursorPoint !== null, \"with the ray active, the ray and its cursor show\");\n      assert(Math.abs(v.cursorPoint![2] - (CENTRE[2] + RADIUS)) <= RADIUS + 0.05, \"the cursor sits near the ray's hit on the target\");\n      r.frame({ tip: outside(0.05), ray: \"at\" });\n      v = r.visuals[0]!;\n      assert(!v.ray, \"with touch active, the ray is hidden\");\n      assert(v.cursor && v.cursorPoint !== null, \"with touch active, the cursor shows at the touch point\");\n      assert(Math.abs(v.cursorPoint![2] - (CENTRE[2] + RADIUS)) <= RADIUS + 0.05, \"the cursor sits on the surface under the fingertip\");\n      r.frame({ grip: outside(0.05), ray: \"at\" });\n      v = r.visuals[0]!;\n      assert(!v.ray && v.cursor, \"with grab active, the ray is hidden and the cursor shows\");\n      r.frame({ ray: \"away\" });\n      v = r.visuals[0]!;\n      assert(v.ray && !v.cursor && v.cursorPoint === null, \"with nothing active, the ray shows and the cursor does not\");\n      r.frame({ ray: \"none\" });\n      v = r.visuals[0]!;\n      assert(!v.ray && !v.cursor, \"a source with no ray draws no ray\");\n    },\n  },\n  {\n    name: \"a pointer that is pressing keeps the source until it releases\",\n    run(subject) {\n      const r = rig(subject);\n      r.frame({ ray: \"at\" });\n      let types = r.frame({ ray: \"at\", select: 1 });\n      assert(types.includes(\"pressStart\"), \"a select on the ray target presses it\");\n      r.frame({ tip: outside(0.05), ray: \"at\", select: 1 });\n      expectActive(r, \"ray\", \"a fingertip entering the band while the ray presses\");\n      types = r.frame({ tip: outside(0.05), ray: \"at\", select: 0 });\n      assert(types.includes(\"pressEnd\"), \"releasing select ends the ray press\");\n      r.frame({ tip: outside(0.05), ray: \"at\" });\n      expectActive(r, \"touch\", \"once released, touch takes the source\");\n    },\n  },\n  {\n    name: \"a controller's ray origin presses by touch exactly as a fingertip does\",\n    run(subject) {\n      const r = rig(subject);\n      r.frame({ kind: \"controller\", tip: outside(0.1) });\n      expectActive(r, \"touch\", \"a controller nose inside the hover band\");\n      const types = r.frame({ kind: \"controller\", tip: outside(0.01) });\n      assert(types.includes(\"pressStart\"), \"a controller nose reaching the press distance presses\");\n    },\n  },\n];\n"]}

package/dist/near-pointer.d.ts

@@ -0,0 +1,131 @@
+/**
+ * Near pointers - the touch press, the grip grab, which pointer owns a hand
+ * and what that means for the ray and cursor. Pure logic, no engine.
+ *
+ * The template is IWSDK 1.0.0's pointer stack (`@iwsdk/xr-input`
+ * `multi-pointer.js`, `touch-pointer.js`, `grab-pointer.js`, over
+ * `@pmndrs/pointer-events`), restated here so every binding runs the same
+ * rule from the facts it already reports (`indexTip`, `gripPose`, `ray`):
+ *
+ * - **Touch.** A fingertip (a controller's ray origin stands in for one)
+ *   hovers a target once its distance to the target's SURFACE is within
+ *   `touchHoverEnter` (0.15 m) and keeps hovering until it is beyond
+ *   `touchHoverExit` (0.2 m): `TOUCH_HYSTERESIS`. It presses while that
+ *   distance is at or under `touchDown` (0.02 m): `TOUCH_DEFAULTS.downRadius`,
+ *   which `@pmndrs/pointer-events` compares every frame, so the release is
+ *   the way out past the same distance.
+ * - **Grab.** The grip is a sphere of `grabRadius` (0.07 m,
+ *   `createGrabPointer`'s default) and a target whose surface it reaches is
+ *   the grab candidate. The squeeze (or a hand's pinch on a grab-only
+ *   target) then grabs it.
+ * - **Priority.** Per source, the first of touch, grab, ray with a candidate
+ *   is the active pointer (`PRIORITY_ORDER`), and once it is pressing or
+ *   grabbing it stays active until the release (IWSDK's selection lock).
+ * - **Visuals.** The ray and its cursor show only while the ray is the active
+ *   pointer or nothing is (`shouldHideRay`); a near pointer owning the hand
+ *   hides them, and the shared cursor sits at the active pointer's hit point.
+ *
+ * One rule is deliberately stricter than the template, as the Pale Signal
+ * work order of 28 September 2026 required: a touch never presses from inside
+ * or from behind. A fingertip first seen already within the press band, a
+ * hand that pops into tracking inside the target, does not press until it has
+ * been seen outside the band and comes back in. IWSDK's touch pointer would
+ * press on that first frame; `touch-reference.test.ts` records the one frame
+ * on which the two differ, and that they agree everywhere else.
+ */
+/** The pointer that owns a source this frame. `"gaze"` is the eye-gaze source's own pointer. */
+export type ActivePointerKind = "touch" | "grab" | "ray" | "gaze";
+/** IWSDK's order: the first with a candidate wins. `multi-pointer.js` `PRIORITY_ORDER`. */
+export declare const POINTER_PRIORITY: readonly ActivePointerKind[];
+export interface NearPointerOptions {
+    /** Surface distance, metres, within which a fingertip starts hovering a target. IWSDK `enterHoverDistance` 0.15. */
+    touchHoverEnter: number;
+    /** Surface distance, metres, beyond which a hovering fingertip stops hovering. IWSDK `exitHoverDistance` 0.2. Never less than `touchHoverEnter`. */
+    touchHoverExit: number;
+    /** Surface distance, metres, at or under which a hovering fingertip presses, and above which it releases. IWSDK `downRadius` 0.02. */
+    touchDown: number;
+    /** Radius, metres, of the grip sphere that finds a grab candidate. `createGrabPointer` default 0.07. */
+    grabRadius: number;
+}
+/** IWSDK 1.0.0's constants: `TOUCH_HYSTERESIS`, `TOUCH_DEFAULTS.downRadius`, `createGrabPointer`'s radius. */
+export declare const NEAR_POINTER_DEFAULTS: Readonly<NearPointerOptions>;
+export declare function resolveNearPointerOptions(options?: Partial<NearPointerOptions>): NearPointerOptions;
+/** What the touch machine reports after one frame. */
+export interface TouchPointerUpdate {
+    /** The fingertip is hovering a target this frame (the touch pointer has a candidate). */
+    hovering: boolean;
+    /** The touch is pressing this frame. */
+    pressed: boolean;
+    /** True on the exact frame a press started. */
+    pressStarted: boolean;
+    /** True on the exact frame a press ended. */
+    pressEnded: boolean;
+}
+/**
+ * One source's touch pointer: hover with hysteresis, press at `touchDown`
+ * armed only from outside the band. Feed it the fingertip's surface distance
+ * to the nearest target each frame, or `null` when no target is in reach.
+ */
+export declare class TouchPointerState {
+    private hovering;
+    private pressed;
+    /** The fingertip has been seen outside the press band since it last lost contact. */
+    private armed;
+    get isHovering(): boolean;
+    get isPressed(): boolean;
+    /**
+     * Advance one frame. `enter`/`exit` are the hover band for the target in
+     * question (an interactable may widen the default), `down` the press
+     * distance.
+     */
+    update(distance: number | null, enter: number, exit: number, down: number): TouchPointerUpdate;
+    /** Drop everything without reporting (the source went away). */
+    reset(): void;
+}
+/** A candidate one pointer found: the target and the point the cursor sits at. */
+export interface PointerCandidate {
+    targetId: string;
+    /** World-space point: the ray's hit, or the closest point of a near target. */
+    point: readonly [number, number, number];
+    /** Metres: the ray parameter for a ray, the surface distance for a near pointer. */
+    distance: number;
+}
+/**
+ * IWSDK's `pickActiveByPriority` with its selection lock: while the current
+ * active pointer is selecting it stays; otherwise the first pointer in
+ * `POINTER_PRIORITY` with a candidate wins, or none.
+ */
+export declare function pickActivePointer(candidates: {
+    touch: boolean;
+    grab: boolean;
+    ray: boolean;
+}, current: ActivePointerKind | null, selecting: boolean): ActivePointerKind | null;
+/**
+ * What a binding shows for one source: IWSDK's `shouldHideRay` and the shared
+ * cursor from `MultiPointer.update`. A host draws exactly this and decides
+ * nothing.
+ */
+export interface PointerVisuals {
+    /** The source these visuals belong to. */
+    sourceId: string;
+    /** The pointer owning the source, or null when none has a candidate. */
+    activePointer: ActivePointerKind | null;
+    /**
+     * Draw this source's ray. True while the source has a ray and no near
+     * pointer owns it: the ray is active, or nothing is. False while touch or
+     * grab owns the hand, while eye gaze has taken the far ray, and for a
+     * source with no ray at all.
+     */
+    ray: boolean;
+    /**
+     * Draw the cursor disc at `cursorPoint`. True exactly while the active
+     * pointer has a candidate: at the ray's hit, or on the surface the
+     * fingertip or grip reaches. Never drawn "at every ray hit" regardless of
+     * ownership, which is what the September 2026 native contract said.
+     */
+    cursor: boolean;
+    /** World-space cursor position while `cursor` is true, else null. */
+    cursorPoint: readonly [number, number, number] | null;
+}
+/** Build the visuals for one source from its active pointer and that pointer's candidate. */
+export declare function pointerVisualsFor(sourceId: string, hasRay: boolean, active: ActivePointerKind | null, candidate: PointerCandidate | null): PointerVisuals;

package/dist/near-pointer.js

@@ -0,0 +1,128 @@
+/**
+ * Near pointers - the touch press, the grip grab, which pointer owns a hand
+ * and what that means for the ray and cursor. Pure logic, no engine.
+ *
+ * The template is IWSDK 1.0.0's pointer stack (`@iwsdk/xr-input`
+ * `multi-pointer.js`, `touch-pointer.js`, `grab-pointer.js`, over
+ * `@pmndrs/pointer-events`), restated here so every binding runs the same
+ * rule from the facts it already reports (`indexTip`, `gripPose`, `ray`):
+ *
+ * - **Touch.** A fingertip (a controller's ray origin stands in for one)
+ *   hovers a target once its distance to the target's SURFACE is within
+ *   `touchHoverEnter` (0.15 m) and keeps hovering until it is beyond
+ *   `touchHoverExit` (0.2 m): `TOUCH_HYSTERESIS`. It presses while that
+ *   distance is at or under `touchDown` (0.02 m): `TOUCH_DEFAULTS.downRadius`,
+ *   which `@pmndrs/pointer-events` compares every frame, so the release is
+ *   the way out past the same distance.
+ * - **Grab.** The grip is a sphere of `grabRadius` (0.07 m,
+ *   `createGrabPointer`'s default) and a target whose surface it reaches is
+ *   the grab candidate. The squeeze (or a hand's pinch on a grab-only
+ *   target) then grabs it.
+ * - **Priority.** Per source, the first of touch, grab, ray with a candidate
+ *   is the active pointer (`PRIORITY_ORDER`), and once it is pressing or
+ *   grabbing it stays active until the release (IWSDK's selection lock).
+ * - **Visuals.** The ray and its cursor show only while the ray is the active
+ *   pointer or nothing is (`shouldHideRay`); a near pointer owning the hand
+ *   hides them, and the shared cursor sits at the active pointer's hit point.
+ *
+ * One rule is deliberately stricter than the template, as the Pale Signal
+ * work order of 28 September 2026 required: a touch never presses from inside
+ * or from behind. A fingertip first seen already within the press band, a
+ * hand that pops into tracking inside the target, does not press until it has
+ * been seen outside the band and comes back in. IWSDK's touch pointer would
+ * press on that first frame; `touch-reference.test.ts` records the one frame
+ * on which the two differ, and that they agree everywhere else.
+ */
+/** IWSDK's order: the first with a candidate wins. `multi-pointer.js` `PRIORITY_ORDER`. */
+export const POINTER_PRIORITY = Object.freeze(["touch", "grab", "ray"]);
+/** IWSDK 1.0.0's constants: `TOUCH_HYSTERESIS`, `TOUCH_DEFAULTS.downRadius`, `createGrabPointer`'s radius. */
+export const NEAR_POINTER_DEFAULTS = Object.freeze({
+    touchHoverEnter: 0.15,
+    touchHoverExit: 0.2,
+    touchDown: 0.02,
+    grabRadius: 0.07,
+});
+export function resolveNearPointerOptions(options = {}) {
+    const resolved = { ...NEAR_POINTER_DEFAULTS, ...options };
+    if (resolved.touchDown < 0 || resolved.touchHoverEnter < 0 || resolved.grabRadius < 0) {
+        throw new Error("[webxr-interactions] near pointer distances must be >= 0");
+    }
+    if (resolved.touchHoverExit < resolved.touchHoverEnter) {
+        throw new Error(`[webxr-interactions] touchHoverExit (${resolved.touchHoverExit}) must be >= touchHoverEnter (${resolved.touchHoverEnter})`);
+    }
+    return resolved;
+}
+/**
+ * One source's touch pointer: hover with hysteresis, press at `touchDown`
+ * armed only from outside the band. Feed it the fingertip's surface distance
+ * to the nearest target each frame, or `null` when no target is in reach.
+ */
+export class TouchPointerState {
+    hovering = false;
+    pressed = false;
+    /** The fingertip has been seen outside the press band since it last lost contact. */
+    armed = false;
+    get isHovering() {
+        return this.hovering;
+    }
+    get isPressed() {
+        return this.pressed;
+    }
+    /**
+     * Advance one frame. `enter`/`exit` are the hover band for the target in
+     * question (an interactable may widen the default), `down` the press
+     * distance.
+     */
+    update(distance, enter, exit, down) {
+        const wasPressed = this.pressed;
+        const threshold = this.hovering ? exit : enter;
+        if (distance === null || distance > threshold) {
+            this.hovering = false;
+            this.pressed = false;
+            this.armed = false;
+            return { hovering: false, pressed: false, pressStarted: false, pressEnded: wasPressed };
+        }
+        this.hovering = true;
+        if (distance > down) {
+            // Outside the press band: released if it was pressing, and armed for the next press.
+            this.armed = true;
+            this.pressed = false;
+            return { hovering: true, pressed: false, pressStarted: false, pressEnded: wasPressed };
+        }
+        // Within the press band. IWSDK presses here unconditionally; the core
+        // requires the fingertip to have arrived from outside (see the file comment).
+        if (!this.pressed && this.armed) {
+            this.pressed = true;
+            this.armed = false;
+            return { hovering: true, pressed: true, pressStarted: true, pressEnded: false };
+        }
+        return { hovering: true, pressed: this.pressed, pressStarted: false, pressEnded: false };
+    }
+    /** Drop everything without reporting (the source went away). */
+    reset() {
+        this.hovering = false;
+        this.pressed = false;
+        this.armed = false;
+    }
+}
+/**
+ * IWSDK's `pickActiveByPriority` with its selection lock: while the current
+ * active pointer is selecting it stays; otherwise the first pointer in
+ * `POINTER_PRIORITY` with a candidate wins, or none.
+ */
+export function pickActivePointer(candidates, current, selecting) {
+    if (selecting && current !== null)
+        return current;
+    for (const kind of POINTER_PRIORITY) {
+        if (candidates[kind])
+            return kind;
+    }
+    return null;
+}
+/** Build the visuals for one source from its active pointer and that pointer's candidate. */
+export function pointerVisualsFor(sourceId, hasRay, active, candidate) {
+    const ray = hasRay && (active === null || active === "ray");
+    const cursor = active !== null && candidate !== null;
+    return { sourceId, activePointer: active, ray, cursor, cursorPoint: cursor ? candidate.point : null };
+}
+//# sourceMappingURL=near-pointer.js.map

package/dist/near-pointer.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"near-pointer.js","sourceRoot":"","sources":["../src/near-pointer.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAkCG;AAKH,2FAA2F;AAC3F,MAAM,CAAC,MAAM,gBAAgB,GAAiC,MAAM,CAAC,MAAM,CAAC,CAAC,OAAO,EAAE,MAAM,EAAE,KAAK,CAAC,CAAC,CAAC;AAatG,8GAA8G;AAC9G,MAAM,CAAC,MAAM,qBAAqB,GAAiC,MAAM,CAAC,MAAM,CAAC;IAC/E,eAAe,EAAE,IAAI;IACrB,cAAc,EAAE,GAAG;IACnB,SAAS,EAAE,IAAI;IACf,UAAU,EAAE,IAAI;CACjB,CAAC,CAAC;AAEH,MAAM,UAAU,yBAAyB,CAAC,UAAuC,EAAE;IACjF,MAAM,QAAQ,GAAG,EAAE,GAAG,qBAAqB,EAAE,GAAG,OAAO,EAAE,CAAC;IAC1D,IAAI,QAAQ,CAAC,SAAS,GAAG,CAAC,IAAI,QAAQ,CAAC,eAAe,GAAG,CAAC,IAAI,QAAQ,CAAC,UAAU,GAAG,CAAC,EAAE,CAAC;QACtF,MAAM,IAAI,KAAK,CAAC,0DAA0D,CAAC,CAAC;IAC9E,CAAC;IACD,IAAI,QAAQ,CAAC,cAAc,GAAG,QAAQ,CAAC,eAAe,EAAE,CAAC;QACvD,MAAM,IAAI,KAAK,CACb,wCAAwC,QAAQ,CAAC,cAAc,iCAAiC,QAAQ,CAAC,eAAe,GAAG,CAC5H,CAAC;IACJ,CAAC;IACD,OAAO,QAAQ,CAAC;AAClB,CAAC;AAcD;;;;GAIG;AACH,MAAM,OAAO,iBAAiB;IACpB,QAAQ,GAAG,KAAK,CAAC;IACjB,OAAO,GAAG,KAAK,CAAC;IACxB,qFAAqF;IAC7E,KAAK,GAAG,KAAK,CAAC;IAEtB,IAAI,UAAU;QACZ,OAAO,IAAI,CAAC,QAAQ,CAAC;IACvB,CAAC;IAED,IAAI,SAAS;QACX,OAAO,IAAI,CAAC,OAAO,CAAC;IACtB,CAAC;IAED;;;;OAIG;IACH,MAAM,CAAC,QAAuB,EAAE,KAAa,EAAE,IAAY,EAAE,IAAY;QACvE,MAAM,UAAU,GAAG,IAAI,CAAC,OAAO,CAAC;QAChC,MAAM,SAAS,GAAG,IAAI,CAAC,QAAQ,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,KAAK,CAAC;QAC/C,IAAI,QAAQ,KAAK,IAAI,IAAI,QAAQ,GAAG,SAAS,EAAE,CAAC;YAC9C,IAAI,CAAC,QAAQ,GAAG,KAAK,CAAC;YACtB,IAAI,CAAC,OAAO,GAAG,KAAK,CAAC;YACrB,IAAI,CAAC,KAAK,GAAG,KAAK,CAAC;YACnB,OAAO,EAAE,QAAQ,EAAE,KAAK,EAAE,OAAO,EAAE,KAAK,EAAE,YAAY,EAAE,KAAK,EAAE,UAAU,EAAE,UAAU,EAAE,CAAC;QAC1F,CAAC;QACD,IAAI,CAAC,QAAQ,GAAG,IAAI,CAAC;QACrB,IAAI,QAAQ,GAAG,IAAI,EAAE,CAAC;YACpB,qFAAqF;YACrF,IAAI,CAAC,KAAK,GAAG,IAAI,CAAC;YAClB,IAAI,CAAC,OAAO,GAAG,KAAK,CAAC;YACrB,OAAO,EAAE,QAAQ,EAAE,IAAI,EAAE,OAAO,EAAE,KAAK,EAAE,YAAY,EAAE,KAAK,EAAE,UAAU,EAAE,UAAU,EAAE,CAAC;QACzF,CAAC;QACD,sEAAsE;QACtE,8EAA8E;QAC9E,IAAI,CAAC,IAAI,CAAC,OAAO,IAAI,IAAI,CAAC,KAAK,EAAE,CAAC;YAChC,IAAI,CAAC,OAAO,GAAG,IAAI,CAAC;YACpB,IAAI,CAAC,KAAK,GAAG,KAAK,CAAC;YACnB,OAAO,EAAE,QAAQ,EAAE,IAAI,EAAE,OAAO,EAAE,IAAI,EAAE,YAAY,EAAE,IAAI,EAAE,UAAU,EAAE,KAAK,EAAE,CAAC;QAClF,CAAC;QACD,OAAO,EAAE,QAAQ,EAAE,IAAI,EAAE,OAAO,EAAE,IAAI,CAAC,OAAO,EAAE,YAAY,EAAE,KAAK,EAAE,UAAU,EAAE,KAAK,EAAE,CAAC;IAC3F,CAAC;IAED,gEAAgE;IAChE,KAAK;QACH,IAAI,CAAC,QAAQ,GAAG,KAAK,CAAC;QACtB,IAAI,CAAC,OAAO,GAAG,KAAK,CAAC;QACrB,IAAI,CAAC,KAAK,GAAG,KAAK,CAAC;IACrB,CAAC;CACF;AAWD;;;;GAIG;AACH,MAAM,UAAU,iBAAiB,CAC/B,UAA2D,EAC3D,OAAiC,EACjC,SAAkB;IAElB,IAAI,SAAS,IAAI,OAAO,KAAK,IAAI;QAAE,OAAO,OAAO,CAAC;IAClD,KAAK,MAAM,IAAI,IAAI,gBAAgB,EAAE,CAAC;QACpC,IAAI,UAAU,CAAC,IAAgC,CAAC;YAAE,OAAO,IAAI,CAAC;IAChE,CAAC;IACD,OAAO,IAAI,CAAC;AACd,CAAC;AA8BD,6FAA6F;AAC7F,MAAM,UAAU,iBAAiB,CAC/B,QAAgB,EAChB,MAAe,EACf,MAAgC,EAChC,SAAkC;IAElC,MAAM,GAAG,GAAG,MAAM,IAAI,CAAC,MAAM,KAAK,IAAI,IAAI,MAAM,KAAK,KAAK,CAAC,CAAC;IAC5D,MAAM,MAAM,GAAG,MAAM,KAAK,IAAI,IAAI,SAAS,KAAK,IAAI,CAAC;IACrD,OAAO,EAAE,QAAQ,EAAE,aAAa,EAAE,MAAM,EAAE,GAAG,EAAE,MAAM,EAAE,WAAW,EAAE,MAAM,CAAC,CAAC,CAAC,SAAU,CAAC,KAAK,CAAC,CAAC,CAAC,IAAI,EAAE,CAAC;AACzG,CAAC","sourcesContent":["/**\n * Near pointers - the touch press, the grip grab, which pointer owns a hand\n * and what that means for the ray and cursor. Pure logic, no engine.\n *\n * The template is IWSDK 1.0.0's pointer stack (`@iwsdk/xr-input`\n * `multi-pointer.js`, `touch-pointer.js`, `grab-pointer.js`, over\n * `@pmndrs/pointer-events`), restated here so every binding runs the same\n * rule from the facts it already reports (`indexTip`, `gripPose`, `ray`):\n *\n * - **Touch.** A fingertip (a controller's ray origin stands in for one)\n *   hovers a target once its distance to the target's SURFACE is within\n *   `touchHoverEnter` (0.15 m) and keeps hovering until it is beyond\n *   `touchHoverExit` (0.2 m): `TOUCH_HYSTERESIS`. It presses while that\n *   distance is at or under `touchDown` (0.02 m): `TOUCH_DEFAULTS.downRadius`,\n *   which `@pmndrs/pointer-events` compares every frame, so the release is\n *   the way out past the same distance.\n * - **Grab.** The grip is a sphere of `grabRadius` (0.07 m,\n *   `createGrabPointer`'s default) and a target whose surface it reaches is\n *   the grab candidate. The squeeze (or a hand's pinch on a grab-only\n *   target) then grabs it.\n * - **Priority.** Per source, the first of touch, grab, ray with a candidate\n *   is the active pointer (`PRIORITY_ORDER`), and once it is pressing or\n *   grabbing it stays active until the release (IWSDK's selection lock).\n * - **Visuals.** The ray and its cursor show only while the ray is the active\n *   pointer or nothing is (`shouldHideRay`); a near pointer owning the hand\n *   hides them, and the shared cursor sits at the active pointer's hit point.\n *\n * One rule is deliberately stricter than the template, as the Pale Signal\n * work order of 28 September 2026 required: a touch never presses from inside\n * or from behind. A fingertip first seen already within the press band, a\n * hand that pops into tracking inside the target, does not press until it has\n * been seen outside the band and comes back in. IWSDK's touch pointer would\n * press on that first frame; `touch-reference.test.ts` records the one frame\n * on which the two differ, and that they agree everywhere else.\n */\n\n/** The pointer that owns a source this frame. `\"gaze\"` is the eye-gaze source's own pointer. */\nexport type ActivePointerKind = \"touch\" | \"grab\" | \"ray\" | \"gaze\";\n\n/** IWSDK's order: the first with a candidate wins. `multi-pointer.js` `PRIORITY_ORDER`. */\nexport const POINTER_PRIORITY: readonly ActivePointerKind[] = Object.freeze([\"touch\", \"grab\", \"ray\"]);\n\nexport interface NearPointerOptions {\n  /** Surface distance, metres, within which a fingertip starts hovering a target. IWSDK `enterHoverDistance` 0.15. */\n  touchHoverEnter: number;\n  /** Surface distance, metres, beyond which a hovering fingertip stops hovering. IWSDK `exitHoverDistance` 0.2. Never less than `touchHoverEnter`. */\n  touchHoverExit: number;\n  /** Surface distance, metres, at or under which a hovering fingertip presses, and above which it releases. IWSDK `downRadius` 0.02. */\n  touchDown: number;\n  /** Radius, metres, of the grip sphere that finds a grab candidate. `createGrabPointer` default 0.07. */\n  grabRadius: number;\n}\n\n/** IWSDK 1.0.0's constants: `TOUCH_HYSTERESIS`, `TOUCH_DEFAULTS.downRadius`, `createGrabPointer`'s radius. */\nexport const NEAR_POINTER_DEFAULTS: Readonly<NearPointerOptions> = Object.freeze({\n  touchHoverEnter: 0.15,\n  touchHoverExit: 0.2,\n  touchDown: 0.02,\n  grabRadius: 0.07,\n});\n\nexport function resolveNearPointerOptions(options: Partial<NearPointerOptions> = {}): NearPointerOptions {\n  const resolved = { ...NEAR_POINTER_DEFAULTS, ...options };\n  if (resolved.touchDown < 0 || resolved.touchHoverEnter < 0 || resolved.grabRadius < 0) {\n    throw new Error(\"[webxr-interactions] near pointer distances must be >= 0\");\n  }\n  if (resolved.touchHoverExit < resolved.touchHoverEnter) {\n    throw new Error(\n      `[webxr-interactions] touchHoverExit (${resolved.touchHoverExit}) must be >= touchHoverEnter (${resolved.touchHoverEnter})`,\n    );\n  }\n  return resolved;\n}\n\n/** What the touch machine reports after one frame. */\nexport interface TouchPointerUpdate {\n  /** The fingertip is hovering a target this frame (the touch pointer has a candidate). */\n  hovering: boolean;\n  /** The touch is pressing this frame. */\n  pressed: boolean;\n  /** True on the exact frame a press started. */\n  pressStarted: boolean;\n  /** True on the exact frame a press ended. */\n  pressEnded: boolean;\n}\n\n/**\n * One source's touch pointer: hover with hysteresis, press at `touchDown`\n * armed only from outside the band. Feed it the fingertip's surface distance\n * to the nearest target each frame, or `null` when no target is in reach.\n */\nexport class TouchPointerState {\n  private hovering = false;\n  private pressed = false;\n  /** The fingertip has been seen outside the press band since it last lost contact. */\n  private armed = false;\n\n  get isHovering(): boolean {\n    return this.hovering;\n  }\n\n  get isPressed(): boolean {\n    return this.pressed;\n  }\n\n  /**\n   * Advance one frame. `enter`/`exit` are the hover band for the target in\n   * question (an interactable may widen the default), `down` the press\n   * distance.\n   */\n  update(distance: number | null, enter: number, exit: number, down: number): TouchPointerUpdate {\n    const wasPressed = this.pressed;\n    const threshold = this.hovering ? exit : enter;\n    if (distance === null || distance > threshold) {\n      this.hovering = false;\n      this.pressed = false;\n      this.armed = false;\n      return { hovering: false, pressed: false, pressStarted: false, pressEnded: wasPressed };\n    }\n    this.hovering = true;\n    if (distance > down) {\n      // Outside the press band: released if it was pressing, and armed for the next press.\n      this.armed = true;\n      this.pressed = false;\n      return { hovering: true, pressed: false, pressStarted: false, pressEnded: wasPressed };\n    }\n    // Within the press band. IWSDK presses here unconditionally; the core\n    // requires the fingertip to have arrived from outside (see the file comment).\n    if (!this.pressed && this.armed) {\n      this.pressed = true;\n      this.armed = false;\n      return { hovering: true, pressed: true, pressStarted: true, pressEnded: false };\n    }\n    return { hovering: true, pressed: this.pressed, pressStarted: false, pressEnded: false };\n  }\n\n  /** Drop everything without reporting (the source went away). */\n  reset(): void {\n    this.hovering = false;\n    this.pressed = false;\n    this.armed = false;\n  }\n}\n\n/** A candidate one pointer found: the target and the point the cursor sits at. */\nexport interface PointerCandidate {\n  targetId: string;\n  /** World-space point: the ray's hit, or the closest point of a near target. */\n  point: readonly [number, number, number];\n  /** Metres: the ray parameter for a ray, the surface distance for a near pointer. */\n  distance: number;\n}\n\n/**\n * IWSDK's `pickActiveByPriority` with its selection lock: while the current\n * active pointer is selecting it stays; otherwise the first pointer in\n * `POINTER_PRIORITY` with a candidate wins, or none.\n */\nexport function pickActivePointer(\n  candidates: { touch: boolean; grab: boolean; ray: boolean },\n  current: ActivePointerKind | null,\n  selecting: boolean,\n): ActivePointerKind | null {\n  if (selecting && current !== null) return current;\n  for (const kind of POINTER_PRIORITY) {\n    if (candidates[kind as \"touch\" | \"grab\" | \"ray\"]) return kind;\n  }\n  return null;\n}\n\n/**\n * What a binding shows for one source: IWSDK's `shouldHideRay` and the shared\n * cursor from `MultiPointer.update`. A host draws exactly this and decides\n * nothing.\n */\nexport interface PointerVisuals {\n  /** The source these visuals belong to. */\n  sourceId: string;\n  /** The pointer owning the source, or null when none has a candidate. */\n  activePointer: ActivePointerKind | null;\n  /**\n   * Draw this source's ray. True while the source has a ray and no near\n   * pointer owns it: the ray is active, or nothing is. False while touch or\n   * grab owns the hand, while eye gaze has taken the far ray, and for a\n   * source with no ray at all.\n   */\n  ray: boolean;\n  /**\n   * Draw the cursor disc at `cursorPoint`. True exactly while the active\n   * pointer has a candidate: at the ray's hit, or on the surface the\n   * fingertip or grip reaches. Never drawn \"at every ray hit\" regardless of\n   * ownership, which is what the September 2026 native contract said.\n   */\n  cursor: boolean;\n  /** World-space cursor position while `cursor` is true, else null. */\n  cursorPoint: readonly [number, number, number] | null;\n}\n\n/** Build the visuals for one source from its active pointer and that pointer's candidate. */\nexport function pointerVisualsFor(\n  sourceId: string,\n  hasRay: boolean,\n  active: ActivePointerKind | null,\n  candidate: PointerCandidate | null,\n): PointerVisuals {\n  const ray = hasRay && (active === null || active === \"ray\");\n  const cursor = active !== null && candidate !== null;\n  return { sourceId, activePointer: active, ray, cursor, cursorPoint: cursor ? candidate!.point : null };\n}\n"]}

package/dist/physics-contract-cases.d.ts

@@ -0,0 +1,11 @@
+import { type PhysicsFacility } from "./physics.js";
+/** The facility under test. Build a FRESH one per case. */
+export interface PhysicsFacilityContractSubject {
+    facility: PhysicsFacility;
+}
+/** One check a {@link PhysicsFacility} implementation must pass. */
+export interface PhysicsFacilityContractCase {
+    name: string;
+    run(subject: PhysicsFacilityContractSubject): void;
+}
+export declare function physicsFacilityContractCases(): readonly PhysicsFacilityContractCase[];

package/dist/physics-contract-cases.js

@@ -0,0 +1,229 @@
+import { PHYSICS_DEFAULTS } from "./physics.js";
+export function physicsFacilityContractCases() {
+    return PHYSICS_CASES;
+}
+const DT = 1 / PHYSICS_DEFAULTS.stepHz;
+const BALL_RADIUS = 0.1;
+const DROP_HEIGHT = 1;
+/** Steps in three seconds: enough for a 1 m drop to land and settle on every engine. */
+const SETTLE_STEPS = 180;
+const IDENTITY = [0, 0, 0, 1];
+const REST_EPS = 0.02;
+const REST_SPEED = 0.05;
+const HOLD_EPS = 1e-3;
+function pose(x, y, z) {
+    return { position: [x, y, z], quaternion: [...IDENTITY] };
+}
+/** A static box floor, 20 m square and 0.1 m thick, whose top face is y = 0. */
+function floor(facility) {
+    facility.addBody("floor", pose(0, -0.05, 0), { state: "static" }, { kind: "box", dimensions: [20, 0.1, 20] });
+}
+function ball(facility, restitution = 0, gravityFactor = 1) {
+    facility.addBody("ball", pose(0, DROP_HEIGHT, 0), { gravityFactor }, { kind: "sphere", dimensions: [BALL_RADIUS, 0, 0], restitution });
+}
+function steps(facility, count) {
+    for (let i = 0; i < count; i++)
+        facility.step(DT);
+}
+function assert(condition, message) {
+    if (!condition)
+        throw new Error(message);
+}
+function close(a, b, eps) {
+    return Math.abs(a[0] - b[0]) <= eps && Math.abs(a[1] - b[1]) <= eps && Math.abs(a[2] - b[2]) <= eps;
+}
+function speed(v) {
+    return Math.hypot(v[0], v[1], v[2]);
+}
+const PHYSICS_CASES = [
+    {
+        name: "starts with IWSDK's gravity, and a body added with no spec is dynamic until removed",
+        run({ facility }) {
+            assert(close(facility.getGravity(), PHYSICS_DEFAULTS.gravity, 1e-6), `gravity must start at ${JSON.stringify(PHYSICS_DEFAULTS.gravity)}, got ${JSON.stringify(facility.getGravity())}`);
+            assert(typeof facility.engine === "string" && facility.engine.length > 0, "the facility must name its engine");
+            facility.addBody("ball", pose(0, 1, 0), undefined, { kind: "sphere", dimensions: [BALL_RADIUS, 0, 0] });
+            assert(facility.hasBody("ball"), "a body just added must be there");
+            assert(facility.getBodyState("ball") === "dynamic", `a body with no spec must be dynamic, got ${facility.getBodyState("ball")}`);
+            assert(facility.isSuspended("ball") === false, "a body just added is not suspended");
+            const at = facility.getBodyPose("ball");
+            assert(close(at.position, [0, 1, 0], 1e-6), `a body just added sits where it was added, got ${JSON.stringify(at.position)}`);
+            facility.removeBody("ball");
+            assert(!facility.hasBody("ball"), "a removed body must be gone");
+            let threw = false;
+            try {
+                facility.getBodyPose("ball");
+            }
+            catch (error) {
+                threw = /no physics body/.test(error.message);
+            }
+            assert(threw, 'reading a missing body must throw an error naming it ("no physics body")');
+            facility.removeBody("ball");
+        },
+    },
+    {
+        name: "a dynamic sphere falls under gravity and comes to rest on a static box",
+        run({ facility }) {
+            floor(facility);
+            ball(facility);
+            steps(facility, 30);
+            const falling = facility.getBodyPose("ball").position[1];
+            // Half a second of free fall drops about 1.2 m from rest; it has hit
+            // the floor by now, or is well on its way: at most 0.5 m of the drop left.
+            assert(falling < DROP_HEIGHT - 0.5, `after 0.5 s the ball must have fallen at least 0.5 m, it is at y = ${falling}`);
+            steps(facility, SETTLE_STEPS - 30);
+            const rest = facility.getBodyPose("ball").position;
+            assert(Math.abs(rest[1] - BALL_RADIUS) <= REST_EPS, `the ball must rest on the floor at y = ${BALL_RADIUS} (2 cm), it is at y = ${rest[1]}`);
+            assert(Math.abs(rest[0]) <= REST_EPS && Math.abs(rest[2]) <= REST_EPS, `the ball must not drift sideways, it is at ${JSON.stringify(rest)}`);
+            assert(speed(facility.getVelocity("ball").linear) <= REST_SPEED, `a resting ball must be still, its speed is ${speed(facility.getVelocity("ball").linear)}`);
+            const floorPose = facility.getBodyPose("floor");
+            assert(close(floorPose.position, [0, -0.05, 0], 1e-3), "a static floor never moves");
+        },
+    },
+    {
+        name: "restitution bounces: a lively ball leaves the floor again, a dead one does not",
+        run({ facility }) {
+            floor(facility);
+            ball(facility, 0.8);
+            let landed = false;
+            let bounced = false;
+            for (let i = 0; i < SETTLE_STEPS && !bounced; i++) {
+                facility.step(DT);
+                const vy = facility.getVelocity("ball").linear[1];
+                if (vy < -0.5)
+                    landed = true;
+                if (landed && vy > 0.5)
+                    bounced = true;
+            }
+            assert(bounced, "a ball with restitution 0.8 dropped from 1 m must bounce back up at over 0.5 m/s");
+            facility.removeBody("ball");
+            ball(facility, 0);
+            landed = false;
+            let rose = 0;
+            for (let i = 0; i < SETTLE_STEPS; i++) {
+                facility.step(DT);
+                const vy = facility.getVelocity("ball").linear[1];
+                if (vy < -0.5)
+                    landed = true;
+                if (landed && vy > rose)
+                    rose = vy;
+            }
+            assert(rose <= 0.3, `a ball with restitution 0 must not bounce, it rose at ${rose} m/s`);
+        },
+    },
+    {
+        name: "a static body never moves and a kinematic body moves only by pose writes",
+        run({ facility }) {
+            facility.addBody("wall", pose(0, 1, 0), { state: "static" }, { kind: "box", dimensions: [1, 1, 1] });
+            facility.addBody("lift", pose(2, 1, 0), { state: "kinematic" }, { kind: "sphere", dimensions: [BALL_RADIUS, 0, 0] });
+            steps(facility, 60);
+            assert(close(facility.getBodyPose("wall").position, [0, 1, 0], HOLD_EPS), "a static body must not fall");
+            assert(close(facility.getBodyPose("lift").position, [2, 1, 0], HOLD_EPS), "a kinematic body must not fall");
+            assert(facility.getBodyState("lift") === "kinematic", "the state reads back as kinematic");
+            facility.setBodyPose("lift", pose(2, 2, 0));
+            steps(facility, 10);
+            assert(close(facility.getBodyPose("lift").position, [2, 2, 0], HOLD_EPS), "a kinematic body follows a pose write and stays");
+            facility.setBodyState("lift", "dynamic");
+            steps(facility, 30);
+            assert(facility.getBodyPose("lift").position[1] < 2 - 0.5, "once dynamic, the same body falls");
+        },
+    },
+    {
+        name: "suspend holds the body still and pose writes stick exactly, until resume",
+        run({ facility }) {
+            ball(facility);
+            facility.suspend("ball");
+            assert(facility.isSuspended("ball"), "isSuspended reports the hold");
+            steps(facility, 30);
+            assert(close(facility.getBodyPose("ball").position, [0, DROP_HEIGHT, 0], HOLD_EPS), `a suspended body must not fall, it is at ${JSON.stringify(facility.getBodyPose("ball").position)}`);
+            facility.setBodyPose("ball", pose(0.5, 2, 0.25));
+            steps(facility, 30);
+            assert(close(facility.getBodyPose("ball").position, [0.5, 2, 0.25], HOLD_EPS), "a pose written to a suspended body sticks exactly");
+            facility.suspend("ball");
+            assert(facility.isSuspended("ball"), "suspending twice is still one hold");
+            facility.resume("ball", { linearVelocity: [0, 0, 0], angularVelocity: [0, 0, 0] });
+            assert(!facility.isSuspended("ball"), "resume ends the hold");
+            assert(facility.getBodyState("ball") === "dynamic", "resume restores the state the body had");
+            steps(facility, 30);
+            assert(facility.getBodyPose("ball").position[1] < 2 - 0.5, "a resumed body falls again");
+        },
+    },
+    {
+        name: "resume with a release velocity throws the body, and with zeros lets it rest",
+        run({ facility }) {
+            ball(facility, 0, 0);
+            facility.suspend("ball");
+            facility.resume("ball", { linearVelocity: [2, 0, 0], angularVelocity: [0, 0, 0] });
+            facility.step(DT);
+            const moved = facility.getBodyPose("ball").position[0];
+            assert(moved > 2 * DT * 0.5, `a release at 2 m/s must move the body that way within one step, moved ${moved}`);
+            facility.resume("ball", { linearVelocity: [0, 0, 0], angularVelocity: [0, 0, 0] });
+            const after = facility.getBodyPose("ball").position[0];
+            facility.step(DT);
+            assert(Math.abs(facility.getBodyPose("ball").position[0] - after) > 2 * DT * 0.5, "resuming a body that is not suspended changes nothing: it keeps flying");
+            facility.suspend("ball");
+            facility.resume("ball", { linearVelocity: [0, 0, 0], angularVelocity: [0, 0, 0] });
+            const rest = facility.getBodyPose("ball").position;
+            steps(facility, 10);
+            assert(close(facility.getBodyPose("ball").position, rest, HOLD_EPS), "a zero release rests the body (no gravity here, gravity factor 0)");
+        },
+    },
+    {
+        name: "setBodyPose while not suspended teleports the body and clears its velocity",
+        run({ facility }) {
+            ball(facility);
+            facility.setVelocity("ball", { linear: [50, 0, 0], angular: [0, 0, 0] });
+            facility.step(DT);
+            assert(facility.getBodyPose("ball").position[0] > 0.5, "a body given 50 m/s moves in one step");
+            const target = pose(-1, 3, 0.5);
+            facility.setBodyPose("ball", target);
+            facility.step(DT);
+            const at = facility.getBodyPose("ball").position;
+            // One step of gravity from rest is about 1.4 mm; a kept velocity would be 0.83 m away.
+            assert(close(at, target.position, REST_EPS), `a teleported body must be at the pose one step later, not carrying its old velocity; it is at ${JSON.stringify(at)}`);
+            assert(speed(facility.getVelocity("ball").linear) < 1, "a teleport clears the velocity");
+        },
+    },
+    {
+        name: "setVelocity and getVelocity round-trip, and every tuple handed back is fresh",
+        run({ facility }) {
+            ball(facility, 0, 0);
+            facility.setVelocity("ball", { linear: [1, 2, 3], angular: [0, 0.5, 0] });
+            const read = facility.getVelocity("ball");
+            assert(close(read.linear, [1, 2, 3], 1e-3) && close(read.angular, [0, 0.5, 0], 1e-3), `velocity must read back as set, got ${JSON.stringify(read)}`);
+            read.linear[0] = 99;
+            assert(facility.getVelocity("ball").linear[0] !== 99, "the tuple handed back must be the caller's own copy");
+            const at = facility.getBodyPose("ball");
+            at.position[0] = 99;
+            assert(facility.getBodyPose("ball").position[0] !== 99, "the pose handed back must be the caller's own copy");
+            const g = facility.getGravity();
+            g[1] = 0;
+            assert(facility.getGravity()[1] !== 0, "the gravity handed back must be the caller's own copy");
+        },
+    },
+    {
+        name: "gravity factor 0 floats, and setGravity changes the world for every dynamic body",
+        run({ facility }) {
+            ball(facility, 0, 0);
+            steps(facility, 60);
+            assert(close(facility.getBodyPose("ball").position, [0, DROP_HEIGHT, 0], HOLD_EPS), "a body with gravity factor 0 floats");
+            facility.addBody("stone", pose(1, DROP_HEIGHT, 0), undefined, { kind: "sphere", dimensions: [BALL_RADIUS, 0, 0] });
+            facility.setGravity([0, 0, 0]);
+            assert(close(facility.getGravity(), [0, 0, 0], 1e-6), "setGravity reads back");
+            steps(facility, 60);
+            assert(close(facility.getBodyPose("stone").position, [1, DROP_HEIGHT, 0], HOLD_EPS), "with no gravity a dynamic body floats too");
+            facility.setGravity([0, -9.81, 0]);
+            steps(facility, 60);
+            assert(facility.getBodyPose("stone").position[1] < DROP_HEIGHT - 0.5, "with gravity back it falls");
+        },
+    },
+    {
+        name: "dispose removes every body",
+        run({ facility }) {
+            floor(facility);
+            ball(facility);
+            facility.dispose();
+            assert(!facility.hasBody("ball") && !facility.hasBody("floor"), "dispose must remove every body");
+        },
+    },
+];
+//# sourceMappingURL=physics-contract-cases.js.map