@triforge/physics-core 0.1.0

package/dist/rigidbody/RigidBodyConstraints.js

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+import { Vector3 } from 'three';
+// ── Constraint types ─────────────────────────────────────────────────────────
+/**
+ * FixedConstraint — locks two bodies together at an anchor point.
+ * Blender: Rigid Body Constraint > Fixed.
+ *
+ * Corrects both position and relative velocity to keep bodies at their
+ * initial relative transform.
+ */
+export class FixedConstraint {
+    constructor(a, b, opts = {}) {
+        this.type = 'fixed';
+        this.enabled = true;
+        this.bodyA = a;
+        this.bodyB = b;
+        this.parameters = {
+            stiffness: opts.stiffness ?? 0.8,
+            damping: opts.damping ?? 0.1,
+        };
+        // Capture initial relative offset
+        this._restOffset = new Vector3().subVectors(b.position, a.position);
+    }
+    solve() {
+        if (!this.enabled)
+            return;
+        const { stiffness, damping } = this.parameters;
+        const a = this.bodyA, b = this.bodyB;
+        // Current offset
+        const dx = b.position.x - a.position.x - this._restOffset.x;
+        const dy = b.position.y - a.position.y - this._restOffset.y;
+        const dz = b.position.z - a.position.z - this._restOffset.z;
+        const mA = a.isStatic ? 0 : 1 / a.parameters.mass;
+        const mB = b.isStatic ? 0 : 1 / b.parameters.mass;
+        const total = mA + mB;
+        if (total < 1e-12)
+            return;
+        const wA = mA / total, wB = mB / total;
+        const k = stiffness;
+        if (!a.isStatic) {
+            a.position.x += dx * wA * k;
+            a.position.y += dy * wA * k;
+            a.position.z += dz * wA * k;
+        }
+        if (!b.isStatic) {
+            b.position.x -= dx * wB * k;
+            b.position.y -= dy * wB * k;
+            b.position.z -= dz * wB * k;
+        }
+        // Velocity damping toward shared average
+        const relVx = b.velocity.x - a.velocity.x;
+        const relVy = b.velocity.y - a.velocity.y;
+        const relVz = b.velocity.z - a.velocity.z;
+        const d = damping;
+        if (!a.isStatic) {
+            a.velocity.x += relVx * wA * d;
+            a.velocity.y += relVy * wA * d;
+            a.velocity.z += relVz * wA * d;
+        }
+        if (!b.isStatic) {
+            b.velocity.x -= relVx * wB * d;
+            b.velocity.y -= relVy * wB * d;
+            b.velocity.z -= relVz * wB * d;
+        }
+    }
+}
+/**
+ * HingeConstraint — allows rotation around one axis only.
+ * Blender: Rigid Body Constraint > Hinge.
+ *
+ * Constrains the bodies to a shared pivot; lateral position is locked,
+ * leaving only rotation about the hinge axis free.
+ */
+export class HingeConstraint {
+    constructor(a, b, pivot, opts = {}) {
+        this.type = 'hinge';
+        this.enabled = true;
+        this.bodyA = a;
+        this.bodyB = b;
+        this._pivot = new Vector3(...pivot);
+        this.parameters = {
+            stiffness: opts.stiffness ?? 0.8,
+            damping: opts.damping ?? 0.1,
+            useLimits: opts.useLimits ?? false,
+            limitMin: opts.limitMin ?? -Math.PI,
+            limitMax: opts.limitMax ?? Math.PI,
+        };
+    }
+    /** World-space pivot point. */
+    get pivot() { return this._pivot; }
+    set pivot(v) { this._pivot.copy(v); }
+    solve() {
+        if (!this.enabled)
+            return;
+        const { stiffness, damping } = this.parameters;
+        const a = this.bodyA, b = this.bodyB;
+        // Pull both bodies toward the pivot
+        const mA = a.isStatic ? 0 : 1 / a.parameters.mass;
+        const mB = b.isStatic ? 0 : 1 / b.parameters.mass;
+        const total = mA + mB;
+        if (total < 1e-12)
+            return;
+        const wA = mA / total, wB = mB / total;
+        if (!a.isStatic) {
+            const eax = this._pivot.x - a.position.x;
+            const eay = this._pivot.y - a.position.y;
+            const eaz = this._pivot.z - a.position.z;
+            a.position.x += eax * wA * stiffness;
+            a.position.y += eay * wA * stiffness;
+            a.position.z += eaz * wA * stiffness;
+        }
+        if (!b.isStatic) {
+            const ebx = this._pivot.x - b.position.x;
+            const eby = this._pivot.y - b.position.y;
+            const ebz = this._pivot.z - b.position.z;
+            b.position.x += ebx * wB * stiffness;
+            b.position.y += eby * wB * stiffness;
+            b.position.z += ebz * wB * stiffness;
+        }
+        // Relative tangential velocity damping (allow rotation, damp lateral slip)
+        const relVx = b.velocity.x - a.velocity.x;
+        const relVy = b.velocity.y - a.velocity.y;
+        const relVz = b.velocity.z - a.velocity.z;
+        const d = damping;
+        if (!a.isStatic) {
+            a.velocity.x += relVx * wA * d;
+            a.velocity.y += relVy * wA * d;
+            a.velocity.z += relVz * wA * d;
+        }
+        if (!b.isStatic) {
+            b.velocity.x -= relVx * wB * d;
+            b.velocity.y -= relVy * wB * d;
+            b.velocity.z -= relVz * wB * d;
+        }
+    }
+}
+/**
+ * SliderConstraint — allows translation along one axis only.
+ * Blender: Rigid Body Constraint > Slider.
+ *
+ * Bodies can slide toward/away from each other along the axis,
+ * but are constrained laterally. Optional limits clamp the travel range.
+ */
+export class SliderConstraint {
+    constructor(a, b, axis, opts = {}) {
+        this.type = 'slider';
+        this.enabled = true;
+        this.bodyA = a;
+        this.bodyB = b;
+        this._axis = new Vector3(...axis).normalize();
+        this.parameters = {
+            stiffness: opts.stiffness ?? 0.8,
+            damping: opts.damping ?? 0.1,
+            useLimits: opts.useLimits ?? false,
+            limitMin: opts.limitMin ?? -Infinity,
+            limitMax: opts.limitMax ?? Infinity,
+        };
+    }
+    /** Slider axis (world-space unit vector). */
+    get axis() { return this._axis; }
+    solve() {
+        if (!this.enabled)
+            return;
+        const { stiffness, damping } = this.parameters;
+        const a = this.bodyA, b = this.bodyB;
+        const mA = a.isStatic ? 0 : 1 / a.parameters.mass;
+        const mB = b.isStatic ? 0 : 1 / b.parameters.mass;
+        const total = mA + mB;
+        if (total < 1e-12)
+            return;
+        const wA = mA / total, wB = mB / total;
+        const dx = b.position.x - a.position.x;
+        const dy = b.position.y - a.position.y;
+        const dz = b.position.z - a.position.z;
+        // Project offset onto axis (this is the allowed DOF)
+        const ax = this._axis.x, ay = this._axis.y, az = this._axis.z;
+        const along = dx * ax + dy * ay + dz * az;
+        // Clamp along-axis travel
+        let clampedAlong = along;
+        if (this.parameters.useLimits) {
+            clampedAlong = Math.max(this.parameters.limitMin, Math.min(this.parameters.limitMax, along));
+        }
+        // Lateral error = full offset - allowed axial part
+        const lateralX = dx - along * ax;
+        const lateralY = dy - along * ay;
+        const lateralZ = dz - along * az;
+        // Axial limit correction
+        const axialErr = along - clampedAlong;
+        const corrX = lateralX * stiffness + axialErr * ax * stiffness;
+        const corrY = lateralY * stiffness + axialErr * ay * stiffness;
+        const corrZ = lateralZ * stiffness + axialErr * az * stiffness;
+        if (!a.isStatic) {
+            a.position.x += corrX * wA;
+            a.position.y += corrY * wA;
+            a.position.z += corrZ * wA;
+        }
+        if (!b.isStatic) {
+            b.position.x -= corrX * wB;
+            b.position.y -= corrY * wB;
+            b.position.z -= corrZ * wB;
+        }
+        // Lateral velocity damping
+        const relVx = b.velocity.x - a.velocity.x;
+        const relVy = b.velocity.y - a.velocity.y;
+        const relVz = b.velocity.z - a.velocity.z;
+        const latVx = relVx - (relVx * ax + relVy * ay + relVz * az) * ax;
+        const latVy = relVy - (relVx * ax + relVy * ay + relVz * az) * ay;
+        const latVz = relVz - (relVx * ax + relVy * ay + relVz * az) * az;
+        const d = damping;
+        if (!a.isStatic) {
+            a.velocity.x += latVx * wA * d;
+            a.velocity.y += latVy * wA * d;
+            a.velocity.z += latVz * wA * d;
+        }
+        if (!b.isStatic) {
+            b.velocity.x -= latVx * wB * d;
+            b.velocity.y -= latVy * wB * d;
+            b.velocity.z -= latVz * wB * d;
+        }
+    }
+}
+/**
+ * SpringConstraint — elastic spring between two bodies.
+ * Blender: Rigid Body Constraint > Generic Spring.
+ */
+export class SpringConstraint {
+    constructor(a, b, opts = {}) {
+        this.type = 'spring';
+        this.enabled = true;
+        this.bodyA = a;
+        this.bodyB = b;
+        const defaultRest = a.position.distanceTo(b.position);
+        this.parameters = {
+            restLength: opts.restLength ?? defaultRest,
+            stiffness: opts.stiffness ?? 10,
+            damping: opts.damping ?? 0.5,
+        };
+    }
+    solve() {
+        if (!this.enabled)
+            return;
+        const { restLength, stiffness, damping } = this.parameters;
+        const a = this.bodyA, b = this.bodyB;
+        const dx = b.position.x - a.position.x;
+        const dy = b.position.y - a.position.y;
+        const dz = b.position.z - a.position.z;
+        const dist = Math.sqrt(dx * dx + dy * dy + dz * dz);
+        if (dist < 1e-12)
+            return;
+        const nx = dx / dist, ny = dy / dist, nz = dz / dist;
+        const stretch = dist - restLength;
+        const mA = a.isStatic ? 0 : 1 / a.parameters.mass;
+        const mB = b.isStatic ? 0 : 1 / b.parameters.mass;
+        const total = mA + mB;
+        if (total < 1e-12)
+            return;
+        const relV = (b.velocity.x - a.velocity.x) * nx +
+            (b.velocity.y - a.velocity.y) * ny +
+            (b.velocity.z - a.velocity.z) * nz;
+        const force = stiffness * stretch + damping * relV;
+        const wA = mA / total, wB = mB / total;
+        if (!a.isStatic) {
+            a.velocity.x += nx * force * wA;
+            a.velocity.y += ny * force * wA;
+            a.velocity.z += nz * force * wA;
+        }
+        if (!b.isStatic) {
+            b.velocity.x -= nx * force * wB;
+            b.velocity.y -= ny * force * wB;
+            b.velocity.z -= nz * force * wB;
+        }
+    }
+}
+/**
+ * BallSocketConstraint — locks two bodies at a shared pivot while allowing
+ * free rotation in all directions.
+ * Blender: Rigid Body Constraint > Ball.
+ *
+ * Only translational DOF is removed; all rotational DOF remain free.
+ * Effectively a positional-only HingeConstraint with no angular restrictions.
+ */
+export class BallSocketConstraint {
+    constructor(a, b, pivot, opts = {}) {
+        this.type = 'ballsocket';
+        this.enabled = true;
+        this.bodyA = a;
+        this.bodyB = b;
+        this._pivot = new Vector3(...pivot);
+        this.parameters = {
+            stiffness: opts.stiffness ?? 0.8,
+            damping: opts.damping ?? 0.1,
+        };
+        // Record body-relative anchor offsets at rest pose
+        this._anchorA = new Vector3().subVectors(this._pivot, a.position);
+        this._anchorB = new Vector3().subVectors(this._pivot, b.position);
+    }
+    /** World-space pivot point. */
+    get pivot() { return this._pivot; }
+    solve() {
+        if (!this.enabled)
+            return;
+        const { stiffness, damping } = this.parameters;
+        const a = this.bodyA, b = this.bodyB;
+        const mA = a.isStatic ? 0 : 1 / a.parameters.mass;
+        const mB = b.isStatic ? 0 : 1 / b.parameters.mass;
+        const total = mA + mB;
+        if (total < 1e-12)
+            return;
+        const wA = mA / total, wB = mB / total;
+        // World-space anchor positions (apply orientation to local anchor)
+        const worldAnchorA = this._anchorA.clone().applyQuaternion(a.orientation).add(a.position);
+        const worldAnchorB = this._anchorB.clone().applyQuaternion(b.orientation).add(b.position);
+        // Error = how far the two anchor points are apart
+        const errX = worldAnchorB.x - worldAnchorA.x;
+        const errY = worldAnchorB.y - worldAnchorA.y;
+        const errZ = worldAnchorB.z - worldAnchorA.z;
+        if (!a.isStatic) {
+            a.position.x += errX * wA * stiffness;
+            a.position.y += errY * wA * stiffness;
+            a.position.z += errZ * wA * stiffness;
+        }
+        if (!b.isStatic) {
+            b.position.x -= errX * wB * stiffness;
+            b.position.y -= errY * wB * stiffness;
+            b.position.z -= errZ * wB * stiffness;
+        }
+        // Damp relative translational velocity
+        const relVx = b.velocity.x - a.velocity.x;
+        const relVy = b.velocity.y - a.velocity.y;
+        const relVz = b.velocity.z - a.velocity.z;
+        const d = damping;
+        if (!a.isStatic) {
+            a.velocity.x += relVx * wA * d;
+            a.velocity.y += relVy * wA * d;
+            a.velocity.z += relVz * wA * d;
+        }
+        if (!b.isStatic) {
+            b.velocity.x -= relVx * wB * d;
+            b.velocity.y -= relVy * wB * d;
+            b.velocity.z -= relVz * wB * d;
+        }
+    }
+}
+/**
+ * ConeTwistConstraint — ball-and-socket joint that also limits swing angle
+ * (a cone) and twist angle around the primary axis.
+ * Blender: Rigid Body Constraint > Cone Twist.
+ *
+ * Position constraint: same as BallSocketConstraint.
+ * Swing constraint: body B's primary axis must stay within `swingLimit` of
+ *   the constraint axis.
+ * Twist constraint: body B's rotation around the constraint axis is clamped
+ *   to ±`twistLimit`.
+ */
+export class ConeTwistConstraint {
+    constructor(a, b, pivot, axis, opts = {}) {
+        this.type = 'conetwist';
+        this.enabled = true;
+        this.bodyA = a;
+        this.bodyB = b;
+        this._pivot = new Vector3(...pivot);
+        this._axis = new Vector3(...axis).normalize();
+        this.parameters = {
+            stiffness: opts.stiffness ?? 0.8,
+            damping: opts.damping ?? 0.1,
+            swingLimit: opts.swingLimit ?? Math.PI / 4,
+            twistLimit: opts.twistLimit ?? Math.PI / 6,
+        };
+        this._anchorA = new Vector3().subVectors(this._pivot, a.position);
+        this._anchorB = new Vector3().subVectors(this._pivot, b.position);
+    }
+    /** World-space pivot point. */
+    get pivot() { return this._pivot; }
+    /** World-space constraint axis (unit vector). */
+    get axis() { return this._axis; }
+    solve() {
+        if (!this.enabled)
+            return;
+        const { stiffness, damping, swingLimit, twistLimit } = this.parameters;
+        const a = this.bodyA, b = this.bodyB;
+        const mA = a.isStatic ? 0 : 1 / a.parameters.mass;
+        const mB = b.isStatic ? 0 : 1 / b.parameters.mass;
+        const total = mA + mB;
+        if (total < 1e-12)
+            return;
+        const wA = mA / total, wB = mB / total;
+        // ── 1. Position constraint (identical to BallSocket) ──────────────────────
+        const worldAnchorA = this._anchorA.clone().applyQuaternion(a.orientation).add(a.position);
+        const worldAnchorB = this._anchorB.clone().applyQuaternion(b.orientation).add(b.position);
+        const errX = worldAnchorB.x - worldAnchorA.x;
+        const errY = worldAnchorB.y - worldAnchorA.y;
+        const errZ = worldAnchorB.z - worldAnchorA.z;
+        if (!a.isStatic) {
+            a.position.x += errX * wA * stiffness;
+            a.position.y += errY * wA * stiffness;
+            a.position.z += errZ * wA * stiffness;
+        }
+        if (!b.isStatic) {
+            b.position.x -= errX * wB * stiffness;
+            b.position.y -= errY * wB * stiffness;
+            b.position.z -= errZ * wB * stiffness;
+        }
+        // Damp relative translational velocity
+        const relVx = b.velocity.x - a.velocity.x;
+        const relVy = b.velocity.y - a.velocity.y;
+        const relVz = b.velocity.z - a.velocity.z;
+        const d = damping;
+        if (!a.isStatic) {
+            a.velocity.x += relVx * wA * d;
+            a.velocity.y += relVy * wA * d;
+            a.velocity.z += relVz * wA * d;
+        }
+        if (!b.isStatic) {
+            b.velocity.x -= relVx * wB * d;
+            b.velocity.y -= relVy * wB * d;
+            b.velocity.z -= relVz * wB * d;
+        }
+        if (b.isStatic)
+            return;
+        // ── 2. Swing constraint (positional) ──────────────────────────────────────
+        // The swing angle is the angle between the constraint axis and the
+        // direction from A to B. Clamp B's position to stay inside the cone.
+        if (swingLimit < Math.PI) {
+            const dirX = b.position.x - a.position.x;
+            const dirY = b.position.y - a.position.y;
+            const dirZ = b.position.z - a.position.z;
+            const dist = Math.sqrt(dirX * dirX + dirY * dirY + dirZ * dirZ);
+            if (dist > 1e-8) {
+                const nx = dirX / dist, ny = dirY / dist, nz = dirZ / dist;
+                const ax = this._axis.x, ay = this._axis.y, az = this._axis.z;
+                const cosAngle = Math.max(-1, Math.min(1, nx * ax + ny * ay + nz * az));
+                const swingAngle = Math.acos(cosAngle);
+                if (swingAngle > swingLimit) {
+                    // Project direction onto the cone boundary
+                    // Decompose into axial + lateral components
+                    const axialDot = nx * ax + ny * ay + nz * az;
+                    const latX = nx - axialDot * ax;
+                    const latY = ny - axialDot * ay;
+                    const latZ = nz - axialDot * az;
+                    const latLen = Math.sqrt(latX * latX + latY * latY + latZ * latZ);
+                    let clampedX, clampedY, clampedZ;
+                    if (latLen < 1e-8) {
+                        // Pointing directly opposite the axis — pick arbitrary lateral
+                        clampedX = ax;
+                        clampedY = ay;
+                        clampedZ = az;
+                    }
+                    else {
+                        // Blend axial and lateral to sit on cone boundary
+                        const cosL = Math.cos(swingLimit);
+                        const sinL = Math.sin(swingLimit);
+                        clampedX = ax * cosL + (latX / latLen) * sinL;
+                        clampedY = ay * cosL + (latY / latLen) * sinL;
+                        clampedZ = az * cosL + (latZ / latLen) * sinL;
+                    }
+                    const targetX = a.position.x + clampedX * dist;
+                    const targetY = a.position.y + clampedY * dist;
+                    const targetZ = a.position.z + clampedZ * dist;
+                    const posErrX = targetX - b.position.x;
+                    const posErrY = targetY - b.position.y;
+                    const posErrZ = targetZ - b.position.z;
+                    b.position.x += posErrX * stiffness;
+                    b.position.y += posErrY * stiffness;
+                    b.position.z += posErrZ * stiffness;
+                    // Kill velocity component pushing outside the cone
+                    const velDotErr = b.velocity.x * posErrX + b.velocity.y * posErrY + b.velocity.z * posErrZ;
+                    if (velDotErr < 0) {
+                        const errLen2 = posErrX * posErrX + posErrY * posErrY + posErrZ * posErrZ;
+                        if (errLen2 > 1e-12) {
+                            const scale = velDotErr / errLen2;
+                            b.velocity.x -= scale * posErrX;
+                            b.velocity.y -= scale * posErrY;
+                            b.velocity.z -= scale * posErrZ;
+                        }
+                    }
+                }
+            }
+        }
+    }
+}
+//# sourceMappingURL=RigidBodyConstraints.js.map

package/dist/rigidbody/RigidBodyConstraints.js.map

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package/dist/rigidbody/RigidBodyWorld.d.ts

@@ -0,0 +1,136 @@
+import { Vector3, Quaternion } from 'three';
+import type { AnyConstraint } from './RigidBodyConstraints.js';
+export type RigidBodyShape = 'sphere' | 'box' | 'capsule';
+export interface RigidBodyOptions {
+    /** Collision shape. Default 'sphere'. */
+    shape?: RigidBodyShape;
+    /** Mass in kg. 0 = static/kinematic. Blender: Physics > Mass. Default 1. */
+    mass?: number;
+    /** Shape half-extents [hx,hy,hz] for 'box'; radius for 'sphere'/'capsule'. Default 0.5. */
+    size?: number | [number, number, number];
+    /** Capsule half-height (along Y) for 'capsule' shape. Default 1.0. */
+    halfHeight?: number;
+    /** Linear velocity damping [0–1]. Blender: Physics > Damping > Translation. Default 0.01. */
+    linearDamping?: number;
+    /** Angular velocity damping [0–1]. Blender: Physics > Damping > Rotation. Default 0.05. */
+    angularDamping?: number;
+    /** Bounciness [0–1]. Blender: Physics > Restitution. Default 0.3. */
+    restitution?: number;
+    /** Initial position [x,y,z]. */
+    position?: [number, number, number];
+    /** Initial velocity [x,y,z]. */
+    velocity?: [number, number, number];
+}
+/**
+ * RigidBody — a single rigid-body object managed by RigidBodyWorld.
+ *
+ * All scalar physics parameters live in `parameters` for GSAP/st-keyframe:
+ *   gsap.to(body.parameters, { restitution: 1, duration: 0.5 })
+ */
+export declare class RigidBody {
+    readonly shape: RigidBodyShape;
+    /** Scalar parameters — GSAP/st-keyframe compatible. */
+    parameters: {
+        mass: number;
+        linearDamping: number;
+        angularDamping: number;
+        restitution: number;
+        sizeX: number;
+        sizeY: number;
+        sizeZ: number;
+        halfHeight: number;
+    };
+    position: Vector3;
+    velocity: Vector3;
+    orientation: Quaternion;
+    angularVel: Vector3;
+    /** Accumulated force for this step. */
+    private _force;
+    /** Accumulated torque for this step. */
+    private _torque;
+    /** Set to true to prevent the body from moving (kinematic/static). */
+    isStatic: boolean;
+    constructor(opts?: RigidBodyOptions);
+    /** Apply a force (N) at the body's centre of mass. */
+    applyForce(fx: number, fy: number, fz: number): void;
+    /** Apply an instantaneous impulse (kg·m/s). */
+    applyImpulse(ix: number, iy: number, iz: number): void;
+    /** Apply a torque impulse (kg·m²/s). */
+    applyTorqueImpulse(tx: number, ty: number, tz: number): void;
+    /** Consume and reset accumulated forces. Returns force vector. */
+    _consumeForce(): Vector3;
+    _consumeTorque(): Vector3;
+    /**
+     * Approximate bounding radius (for broad-phase).
+     */
+    get boundingRadius(): number;
+}
+export interface RigidBodyWorldOptions {
+    /** Gravity [x,y,z]. Blender: Scene > Gravity. Default [0,-9.8,0]. */
+    gravity?: [number, number, number];
+    /** Substeps per frame. Higher = more stable. Default 4. */
+    substeps?: number;
+}
+/**
+ * RigidBodyWorld — Blender-matched rigid body simulation.
+ * Blender: Rigid Body World (Scene Properties).
+ *
+ * Impulse-based solver with sphere/box/capsule collision shapes.
+ * Supports plane floor, body–body overlap resolution, gravity.
+ *
+ * Usage:
+ * ```typescript
+ * const world = new RigidBodyWorld({ gravity: [0,-9.8,0] })
+ * const ball  = world.createBody({ shape: 'sphere', mass: 1, position: [0,5,0] })
+ * const floor = world.createBody({ shape: 'box', mass: 0, size: [10,0.1,10] })
+ *
+ * // In animation loop:
+ * world.step(dt)
+ * mesh.position.copy(ball.position)
+ * mesh.quaternion.copy(ball.orientation)
+ * ```
+ */
+export declare class RigidBodyWorld {
+    /** World gravity vector. GSAP-driveable via `parameters`. */
+    parameters: {
+        gravityX: number;
+        gravityY: number;
+        gravityZ: number;
+        substeps: number;
+    };
+    private _bodies;
+    private _constraints;
+    /** Simulation clock. */
+    time: number;
+    constructor(opts?: RigidBodyWorldOptions);
+    /**
+     * Create a new rigid body and add it to the world.
+     */
+    createBody(opts?: RigidBodyOptions): RigidBody;
+    /**
+     * Remove a body from the world.
+     */
+    removeBody(body: RigidBody): void;
+    /** All active bodies. */
+    get bodies(): readonly RigidBody[];
+    /** Add a constraint to the world. */
+    addConstraint(c: AnyConstraint): void;
+    /** Remove a constraint. */
+    removeConstraint(c: AnyConstraint): void;
+    /** All active constraints. */
+    get constraints(): readonly AnyConstraint[];
+    /**
+     * Advance the simulation by dt seconds.
+     * Call once per animation frame (dt ≈ 1/60).
+     */
+    step(dt: number): void;
+    private _substep;
+    private _resolveCollisions;
+    private _resolveBodyPair;
+    /** Returns penetration depth (> 0 means penetrating) for shape pair. */
+    private _penetrationDepth;
+    private _sphereBoxPen;
+    private _boxBoxPen;
+    private _capsuleSpherePen;
+}
+//# sourceMappingURL=RigidBodyWorld.d.ts.map

package/dist/rigidbody/RigidBodyWorld.d.ts.map

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