@ue-too/dynamics 0.5.1 → 0.5.2

package/.rollup.cache/home/runner/work/ue-too/ue-too/packages/dynamics/dist/collision.js

@@ -0,0 +1,330 @@
+import { PointCal } from "@ue-too/math";
+export function resolveCollision(bodyA, bodyB, normal) {
+    // console.log("resolve");
+    if (bodyA.isStatic() && bodyB.isStatic()) {
+        return;
+    }
+    let restitution = 0.4;
+    let inverseMassA = bodyA.isStatic() || bodyA.isMovingStatic() ? 0 : 1 / bodyA.mass;
+    let inverseMassB = bodyB.isStatic() || bodyB.isMovingStatic() ? 0 : 1 / bodyB.mass;
+    // console.log("inverse mass a", inverseMassA);
+    // console.log("inverse mass b", inverseMassB);
+    let relativeVelocity = PointCal.subVector(bodyA.linearVelocity, bodyB.linearVelocity);
+    // console.log("relative velocity: ", relativeVelocity);
+    // console.log("linear velocity of a", bodyA.getLinearVelocity());
+    // console.log("linear veolcity of b", bodyB.getLinearVelocity());
+    let J = -(1 + restitution) * PointCal.dotProduct(relativeVelocity, normal);
+    J /= inverseMassA + inverseMassB;
+    let deltaVelocityA = PointCal.multiplyVectorByScalar(normal, J * inverseMassA);
+    let deltaVelocityB = PointCal.multiplyVectorByScalar(normal, J * inverseMassB);
+    // console.log("delta velocity A:", deltaVelocityA);
+    // console.log("delta velocity B:", deltaVelocityB);
+    bodyA.linearVelocity = PointCal.addVector(bodyA.linearVelocity, deltaVelocityA);
+    bodyB.linearVelocity = PointCal.subVector(bodyB.linearVelocity, deltaVelocityB);
+}
+export function resolveCollisionWithRotation(bodyA, bodyB, contactManifold) {
+    // console.log("resolve");
+    if (bodyA.isStatic() && bodyB.isStatic()) {
+        return;
+    }
+    let restitution = 0.4;
+    let inverseMassA = bodyA.isStatic() || bodyA.isMovingStatic() ? 0 : 1 / bodyA.mass;
+    let inverseMassB = bodyB.isStatic() || bodyB.isMovingStatic() ? 0 : 1 / bodyB.mass;
+    let inverseMMOIA = bodyA.isStatic() || bodyA.isMovingStatic() ? 0 : 1 / bodyA.momentOfInertia;
+    let inverseMMOIB = bodyB.isStatic() || bodyB.isMovingStatic() ? 0 : 1 / bodyB.momentOfInertia;
+    const Js = [];
+    for (let index = 0; index < contactManifold.contactPoints.length; index++) {
+        const contactPoint = contactManifold.contactPoints[index];
+        const rA = PointCal.subVector(contactPoint, bodyA.center);
+        const rB = PointCal.subVector(contactPoint, bodyB.center);
+        const rAPerpendicular = { x: -rA.y, y: rA.x };
+        const rBPerpendicular = { x: -rB.y, y: rB.x };
+        const angularVelocityA = PointCal.multiplyVectorByScalar(rAPerpendicular, bodyA.angularVelocity);
+        const angularVelocityB = PointCal.multiplyVectorByScalar(rBPerpendicular, bodyB.angularVelocity);
+        // console.log("inverse mass a", inverseMassA);
+        // console.log("inverse mass b", inverseMassB);
+        let relativeVelocity = PointCal.subVector(PointCal.addVector(bodyA.linearVelocity, angularVelocityA), PointCal.addVector(bodyB.linearVelocity, angularVelocityB));
+        // console.log("relative velocity: ", relativeVelocity);
+        // console.log("linear velocity of a", bodyA.getLinearVelocity());
+        // console.log("linear veolcity of b", bodyB.getLinearVelocity());
+        let relativeVelocityNormal = PointCal.dotProduct(relativeVelocity, contactManifold.normal);
+        const rAPerpendicularNormal = PointCal.dotProduct(rAPerpendicular, contactManifold.normal);
+        const rBPerpendicularNormal = PointCal.dotProduct(rBPerpendicular, contactManifold.normal);
+        const denominator = inverseMassA + inverseMassB + rAPerpendicularNormal * rAPerpendicularNormal * inverseMMOIA + rBPerpendicularNormal * rBPerpendicularNormal * inverseMMOIB;
+        let J = -(1 + restitution) * relativeVelocityNormal;
+        J /= denominator;
+        J /= contactManifold.contactPoints.length;
+        Js.push(PointCal.multiplyVectorByScalar(contactManifold.normal, J));
+    }
+    Js.forEach((impulse, index) => {
+        let deltaVelocityA = PointCal.multiplyVectorByScalar(impulse, inverseMassA);
+        let deltaVelocityB = PointCal.multiplyVectorByScalar(impulse, inverseMassB);
+        bodyA.linearVelocity = PointCal.addVector(bodyA.linearVelocity, deltaVelocityA);
+        let resA = PointCal.crossProduct(PointCal.subVector(contactManifold.contactPoints[index], bodyA.center), impulse).z;
+        resA = resA == undefined ? 0 : resA;
+        let resB = PointCal.crossProduct(PointCal.subVector(contactManifold.contactPoints[index], bodyB.center), impulse).z;
+        resB = resB == undefined ? 0 : resB;
+        bodyA.angularVelocity += resA * inverseMMOIA;
+        bodyB.angularVelocity -= resB * inverseMMOIB;
+        bodyB.linearVelocity = PointCal.subVector(bodyB.linearVelocity, deltaVelocityB);
+    });
+}
+export function aabbIntersects(aabbA, aabbB) {
+    if ((aabbA.min.x <= aabbB.max.x && aabbB.min.x <= aabbA.max.x) && (aabbA.min.y <= aabbB.max.y && aabbB.min.y <= aabbA.max.y)) {
+        return true;
+    }
+    return false;
+}
+export function intersects(bodyA, bodyB) {
+    let axis = [];
+    let bodyAAxes = bodyA.getCollisionAxes(bodyB);
+    let bodyBAxes = bodyB.getCollisionAxes(bodyA);
+    axis.push(...bodyAAxes);
+    axis.push(...bodyBAxes);
+    let collision = true;
+    let minDepth = Number.MAX_VALUE;
+    let minAxis = axis[0];
+    axis.forEach(projAxis => {
+        let bodyAInterval = bodyA.getMinMaxProjection(projAxis);
+        let bodyBInterval = bodyB.getMinMaxProjection(projAxis);
+        if (bodyAInterval.min >= bodyBInterval.max || bodyBInterval.min >= bodyAInterval.max) {
+            collision = false;
+        }
+        else {
+            let depth = Math.abs(Math.min(bodyAInterval.max, bodyBInterval.max) - Math.max(bodyBInterval.min, bodyAInterval.min));
+            if (depth < minDepth) {
+                minDepth = depth;
+                minAxis = projAxis;
+                if (bodyAInterval.max < bodyBInterval.max) {
+                    minAxis = PointCal.multiplyVectorByScalar(minAxis, -1);
+                }
+            }
+        }
+    });
+    if (collision) {
+        return { collision: collision, depth: minDepth, normal: minAxis };
+    }
+    else {
+        return { collision: false, depth: undefined, normal: undefined };
+    }
+}
+export function narrowPhaseWithRigidBody(bodies, combinationsToCheck, resolveCollisionFlag) {
+    if (!resolveCollisionFlag) {
+        return [];
+    }
+    const contactPoints = [];
+    combinationsToCheck.forEach(combination => {
+        let bodyA = combination.bodyA;
+        let bodyB = combination.bodyB;
+        if (bodyA == bodyB) {
+            // console.log("same body");
+            return;
+        }
+        let bodyAZ = bodyA.center.z == undefined ? 0 : bodyA.center.z;
+        let bodyBZ = bodyB.center.z == undefined ? 0 : bodyB.center.z;
+        if (Math.abs(bodyAZ - bodyBZ) > 0.5) {
+            // console.log("z-index difference is too large");
+            return;
+        }
+        let { collision, depth, normal: normalAxis } = intersects(bodyA, bodyB);
+        if (collision && normalAxis !== undefined && depth !== undefined) {
+            // the normal axis points in the direction that push bodyA away from bodyB
+            let moveDisplacement = PointCal.multiplyVectorByScalar(normalAxis, depth / 2);
+            let revMoveDisplacement = PointCal.multiplyVectorByScalar(normalAxis, -depth / 2);
+            if (!bodyA.isStatic()) {
+                bodyA.move(moveDisplacement);
+            }
+            if (!bodyB.isStatic()) {
+                bodyB.move(revMoveDisplacement);
+            }
+            if (bodyA.isStatic()) {
+                // bodyA.move(revMoveDisplacement);
+                bodyB.move(revMoveDisplacement);
+            }
+            if (bodyB.isStatic()) {
+                bodyA.move(moveDisplacement);
+                // bodyB.move(moveDisplacement);
+            }
+            // finding the collision contact point(s)
+            const bodyASigNormal = bodyA.getNormalOfSignificantFace(PointCal.multiplyVectorByScalar(normalAxis, -1));
+            const bodyBSigNormal = bodyB.getNormalOfSignificantFace(normalAxis);
+            const bodyASigVertices = bodyA.getSignificantVertices(PointCal.multiplyVectorByScalar(normalAxis, -1));
+            const bodyBSigVertices = bodyB.getSignificantVertices(normalAxis);
+            const bodyAParallelIndicator = Math.abs(PointCal.dotProduct(bodyASigNormal, PointCal.multiplyVectorByScalar(normalAxis, -1)));
+            const bodyBParallelIndicator = Math.abs(PointCal.dotProduct(bodyBSigNormal, normalAxis));
+            if (bodyBSigVertices.length == 1 || bodyASigVertices.length == 1) {
+                // one of the body is a circle
+                // console.log("involving a circle");
+                if (bodyBSigVertices.length == 1) {
+                    // bodyB is a circle
+                    // contact point is on the perimeter of the circle and the direction is the collision normal
+                    contactPoints.push(bodyBSigVertices[0]);
+                }
+                else {
+                    // bodyA is a circle
+                    // contact point is on the perimeter of the circle and the direction is the collision normal
+                    contactPoints.push(bodyASigVertices[0]);
+                }
+            }
+            else if (bodyAParallelIndicator > bodyBParallelIndicator) {
+                // bodyA has the normal that is the most parallel to the collision normal
+                const adjacentFaces = bodyA.getAdjacentFaces(PointCal.multiplyVectorByScalar(normalAxis, -1));
+                let faceToClip = [...bodyBSigVertices];
+                for (let index = 0; index < adjacentFaces.length - 1; index++) {
+                    let startPoint = adjacentFaces[index].startPoint.coord;
+                    let endPoint = adjacentFaces[index].endPoint.coord;
+                    let direction = PointCal.subVector(endPoint, startPoint);
+                    let sigStart = PointCal.subVector(faceToClip[0], startPoint);
+                    let sigEnd = PointCal.subVector(faceToClip[1], startPoint);
+                    let startInside = PointCal.angleFromA2B(direction, sigStart) >= 0;
+                    let endInside = PointCal.angleFromA2B(direction, sigEnd) >= 0;
+                    if ((startInside ? 1 : 0) ^ (endInside ? 1 : 0)) {
+                        // one of the point is outside the face
+                        let intersectionPoint = PointCal.getLineIntersection(startPoint, endPoint, faceToClip[0], faceToClip[1]);
+                        if (intersectionPoint.intersects && intersectionPoint.intersection !== undefined) {
+                            if (startInside) {
+                                faceToClip[1] = intersectionPoint.intersection;
+                            }
+                            else {
+                                faceToClip[0] = intersectionPoint.intersection;
+                            }
+                        }
+                    }
+                }
+                const referenceFace = adjacentFaces[adjacentFaces.length - 1];
+                let startPoint = referenceFace.startPoint.coord;
+                let endPoint = referenceFace.endPoint.coord;
+                let direction = PointCal.subVector(endPoint, startPoint);
+                let sigStart = PointCal.subVector(faceToClip[0], startPoint);
+                let sigEnd = PointCal.subVector(faceToClip[1], startPoint);
+                let startInside = PointCal.angleFromA2B(direction, sigStart) >= 0;
+                let endInside = PointCal.angleFromA2B(direction, sigEnd) >= 0;
+                if (startInside) {
+                    contactPoints.push(faceToClip[0]);
+                }
+                if (endInside) {
+                    contactPoints.push(faceToClip[1]);
+                }
+            }
+            else {
+                // bodyB has the normal that is the most parallel to the collision normal
+                const adjacentFaces = bodyB.getAdjacentFaces(normalAxis);
+                let faceToClip = [...bodyASigVertices];
+                if (faceToClip.length == 0) {
+                    console.log("warning");
+                }
+                let count = 0;
+                for (let index = 0; index < adjacentFaces.length - 1; index++) {
+                    let startPoint = adjacentFaces[index].startPoint.coord;
+                    let endPoint = adjacentFaces[index].endPoint.coord;
+                    let direction = PointCal.subVector(endPoint, startPoint);
+                    let sigStart = PointCal.subVector(faceToClip[0], startPoint);
+                    let sigEnd = PointCal.subVector(faceToClip[1], startPoint);
+                    let startInside = PointCal.angleFromA2B(direction, sigStart) >= 0;
+                    let endInside = PointCal.angleFromA2B(direction, sigEnd) >= 0;
+                    if ((startInside ? 1 : 0) ^ (endInside ? 1 : 0)) {
+                        count += 1;
+                        // one of the point is outside the face
+                        let intersectionPoint = PointCal.getLineIntersection(startPoint, endPoint, faceToClip[0], faceToClip[1]);
+                        if (intersectionPoint.intersects && intersectionPoint.intersection !== undefined) {
+                            if (startInside) {
+                                faceToClip[1] = intersectionPoint.intersection;
+                            }
+                            else {
+                                faceToClip[0] = intersectionPoint.intersection;
+                            }
+                        }
+                    }
+                }
+                const referenceFace = adjacentFaces[adjacentFaces.length - 1];
+                let startPoint = referenceFace.startPoint.coord;
+                let endPoint = referenceFace.endPoint.coord;
+                let direction = PointCal.subVector(endPoint, startPoint);
+                let sigStart = PointCal.subVector(faceToClip[0], startPoint);
+                let sigEnd = PointCal.subVector(faceToClip[1], startPoint);
+                let startInside = PointCal.angleFromA2B(direction, sigStart) >= 0;
+                let endInside = PointCal.angleFromA2B(direction, sigEnd) >= 0;
+                if (startInside) {
+                    contactPoints.push(faceToClip[0]);
+                }
+                if (endInside) {
+                    contactPoints.push(faceToClip[1]);
+                }
+            }
+            if (resolveCollisionFlag) {
+                resolveCollisionWithRotation(bodyA, bodyB, { normal: normalAxis, contactPoints: contactPoints });
+                // resolveCollision(bodyA, bodyB, normalAxis);
+            }
+        }
+    });
+    return contactPoints;
+}
+export function narrowPhase(bodies, combinationsToCheck, resolveCollisionFlag) {
+    if (!resolveCollisionFlag) {
+        return;
+    }
+    combinationsToCheck.forEach(combination => {
+        let bodyA = bodies[combination.bodyAIndex];
+        let bodyB = bodies[combination.bodyBIndex];
+        let { collision, depth, normal: normalAxis } = intersects(bodyA, bodyB);
+        if (collision && normalAxis !== undefined && depth !== undefined) {
+            // console.log("collision");
+            let moveDisplacement = PointCal.multiplyVectorByScalar(normalAxis, depth / 2);
+            let revMoveDisplacement = PointCal.multiplyVectorByScalar(normalAxis, -depth / 2);
+            if (!bodyA.isStatic()) {
+                bodyA.move(moveDisplacement);
+            }
+            if (!bodyB.isStatic()) {
+                bodyB.move(revMoveDisplacement);
+            }
+            if (bodyA.isStatic()) {
+                // bodyA.move(revMoveDisplacement);
+                bodyB.move(revMoveDisplacement);
+            }
+            if (bodyB.isStatic()) {
+                bodyA.move(moveDisplacement);
+                // bodyB.move(moveDisplacement);
+            }
+            if (resolveCollisionFlag) {
+                resolveCollision(bodyA, bodyB, normalAxis);
+            }
+        }
+    });
+}
+export function broadPhaseWithRigidBodyReturned(quadTree, bodies) {
+    let possibleCombi = [];
+    for (let index = 0; index <= bodies.length - 1; index++) {
+        let objsToCheck = quadTree.retrieve(bodies[index]);
+        for (let jindex = 0; jindex <= objsToCheck.length - 1; jindex++) {
+            let bodyA = bodies[index];
+            let bodyB = objsToCheck[jindex];
+            if (bodyA.isStatic() && bodyB.isStatic()) {
+                continue;
+            }
+            if (!aabbIntersects(bodyA.AABB, bodyB.AABB)) {
+                continue;
+            }
+            possibleCombi.push({ bodyA: bodyA, bodyB: bodyB });
+        }
+    }
+    return possibleCombi;
+}
+export function broadPhase(quadTree, bodies) {
+    let possibleCombi = [];
+    for (let index = 0; index <= bodies.length - 1; index++) {
+        let objsToCheck = quadTree.retrieve(bodies[index]);
+        for (let jindex = 0; jindex <= objsToCheck.length - 1; jindex++) {
+            let bodyA = bodies[index];
+            let bodyB = objsToCheck[jindex];
+            if (bodyA.isStatic() && bodyB.isStatic()) {
+                continue;
+            }
+            if (!aabbIntersects(bodyA.AABB, bodyB.AABB)) {
+                continue;
+            }
+            possibleCombi.push({ bodyAIndex: index, bodyBIndex: jindex });
+        }
+    }
+    return possibleCombi;
+}
+//# sourceMappingURL=collision.js.map

package/.rollup.cache/home/runner/work/ue-too/ue-too/packages/dynamics/dist/collision.js.map

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package/.rollup.cache/home/runner/work/ue-too/ue-too/packages/dynamics/dist/constraint.js

@@ -0,0 +1,166 @@
+import { PointCal } from "@ue-too/math";
+export class FixedPinJoint {
+    constructor(bodyA, anchorA, worldAnchorA) {
+        this.bodyA = bodyA;
+        this.anchorA = anchorA;
+        this.worldAnchorA = worldAnchorA;
+    }
+    enforce(dt) {
+        this.solveWorldPinJointConstraint(dt);
+    }
+    solveWorldPinJointConstraint(dt) {
+        const body = this.bodyA;
+        const localAnchor = this.anchorA;
+        const worldAnchor = this.worldAnchorA;
+        // Transform local anchor point to world space
+        const worldAnchorOnBody = PointCal.addVector(body.center, PointCal.rotatePoint(localAnchor, body.orientationAngle));
+        // Calculate the difference between the anchor points
+        const diff = PointCal.subVector(worldAnchorOnBody, worldAnchor);
+        // Calculate the relative velocity of the anchor point
+        const r = PointCal.subVector(worldAnchorOnBody, body.center);
+        const velocity = PointCal.addVector(body.linearVelocity, PointCal.crossProduct({ x: 0, y: 0, z: body.angularVelocity }, r));
+        // Calculate the mass matrix
+        const invMass = body.isStatic() ? 0 : 1 / body.mass;
+        const invI = body.isStatic() ? 0 : 1 / body.momentOfInertia;
+        const K = {
+            x: invMass + invI * r.y * r.y,
+            y: invMass + invI * r.x * r.x,
+            xy: -invI * r.x * r.y
+        };
+        // Calculate the impulse
+        const baumgarte = 1; // Baumgarte stabilization factor
+        const impulse = {
+            x: -K.x * diff.x - K.xy * diff.y - baumgarte * diff.x / dt - velocity.x,
+            y: -K.xy * diff.x - K.y * diff.y - baumgarte * diff.y / dt - velocity.y
+        };
+        // Apply the impulse
+        if (!body.isStatic()) {
+            body.linearVelocity.x += invMass * impulse.x;
+            body.linearVelocity.y += invMass * impulse.y;
+            body.angularVelocity += invI * (r.x * impulse.y - r.y * impulse.x);
+        }
+    }
+}
+export class PinJoint {
+    constructor(bodyA, bodyB, anchorA, anchorB) {
+        this.bodyA = bodyA;
+        this.bodyB = bodyB;
+        this.anchorA = anchorA;
+        this.anchorB = anchorB;
+    }
+    enforce(dt) {
+        this.solvePinJointConstraint(dt);
+    }
+    solvePinJointConstraint(dt) {
+        const bodyA = this.bodyA;
+        const bodyB = this.bodyB;
+        const anchorA = this.anchorA;
+        const anchorB = this.anchorB;
+        // Transform local anchor points to world space
+        const worldAnchorA = PointCal.addVector(bodyA.center, PointCal.rotatePoint(anchorA, bodyA.orientationAngle));
+        const worldAnchorB = PointCal.addVector(bodyB.center, PointCal.rotatePoint(anchorB, bodyB.orientationAngle));
+        // Calculate the difference between the two anchor points in world space
+        const diff = PointCal.subVector(worldAnchorB, worldAnchorA);
+        // Calculate the relative velocity of the anchor points
+        const rA = PointCal.subVector(worldAnchorA, bodyA.center);
+        const rB = PointCal.subVector(worldAnchorB, bodyB.center);
+        const relativeVelocity = PointCal.subVector(PointCal.addVector(bodyB.linearVelocity, PointCal.crossProduct({ x: 0, y: 0, z: bodyB.angularVelocity }, rB)), PointCal.addVector(bodyA.linearVelocity, PointCal.crossProduct({ x: 0, y: 0, z: bodyA.angularVelocity }, rA)));
+        // Calculate the mass matrix
+        const invMassA = bodyA.isStatic() ? 0 : 1 / bodyA.mass;
+        const invMassB = bodyB.isStatic() ? 0 : 1 / bodyB.mass;
+        const invIA = bodyA.isStatic() ? 0 : 1 / bodyA.momentOfInertia;
+        const invIB = bodyB.isStatic() ? 0 : 1 / bodyB.momentOfInertia;
+        const K = {
+            x: invMassA + invMassB + invIA * rA.y * rA.y + invIB * rB.y * rB.y,
+            y: invMassA + invMassB + invIA * rA.x * rA.x + invIB * rB.x * rB.x,
+            xy: -invIA * rA.x * rA.y - invIB * rB.x * rB.y
+        };
+        // Calculate the impulse
+        const baumgarte = 1; // Baumgarte stabilization factor
+        const impulse = {
+            x: -K.x * diff.x - K.xy * diff.y - baumgarte * diff.x / dt - relativeVelocity.x,
+            y: -K.xy * diff.x - K.y * diff.y - baumgarte * diff.y / dt - relativeVelocity.y
+        };
+        // Apply the impulse
+        if (!bodyA.isStatic()) {
+            bodyA.linearVelocity.x -= invMassA * impulse.x;
+            bodyA.linearVelocity.y -= invMassA * impulse.y;
+            bodyA.angularVelocity -= invIA * (rA.x * impulse.y - rA.y * impulse.x);
+        }
+        if (!bodyB.isStatic()) {
+            bodyB.linearVelocity.x += invMassB * impulse.x;
+            bodyB.linearVelocity.y += invMassB * impulse.y;
+            bodyB.angularVelocity += invIB * (rB.x * impulse.y - rB.y * impulse.x);
+        }
+    }
+}
+export function solvePinJointConstraint(constraint, dt) {
+    const { bodyA, bodyB, anchorA, anchorB } = constraint;
+    // Transform local anchor points to world space
+    const worldAnchorA = PointCal.addVector(bodyA.center, PointCal.rotatePoint(anchorA, bodyA.orientationAngle));
+    const worldAnchorB = PointCal.addVector(bodyB.center, PointCal.rotatePoint(anchorB, bodyB.orientationAngle));
+    // Calculate the difference between the two anchor points in world space
+    const diff = PointCal.subVector(worldAnchorB, worldAnchorA);
+    // Calculate the relative velocity of the anchor points
+    const rA = PointCal.subVector(worldAnchorA, bodyA.center);
+    const rB = PointCal.subVector(worldAnchorB, bodyB.center);
+    const relativeVelocity = PointCal.subVector(PointCal.addVector(bodyB.linearVelocity, PointCal.crossProduct({ x: 0, y: 0, z: bodyB.angularVelocity }, rB)), PointCal.addVector(bodyA.linearVelocity, PointCal.crossProduct({ x: 0, y: 0, z: bodyA.angularVelocity }, rA)));
+    // Calculate the mass matrix
+    const invMassA = bodyA.isStatic() ? 0 : 1 / bodyA.mass;
+    const invMassB = bodyB.isStatic() ? 0 : 1 / bodyB.mass;
+    const invIA = bodyA.isStatic() ? 0 : 1 / bodyA.momentOfInertia;
+    const invIB = bodyB.isStatic() ? 0 : 1 / bodyB.momentOfInertia;
+    const K = {
+        x: invMassA + invMassB + invIA * rA.y * rA.y + invIB * rB.y * rB.y,
+        y: invMassA + invMassB + invIA * rA.x * rA.x + invIB * rB.x * rB.x,
+        xy: -invIA * rA.x * rA.y - invIB * rB.x * rB.y
+    };
+    // Calculate the impulse
+    const baumgarte = 0.5; // Baumgarte stabilization factor
+    const impulse = {
+        x: -K.x * diff.x - K.xy * diff.y - baumgarte * diff.x / dt - relativeVelocity.x,
+        y: -K.xy * diff.x - K.y * diff.y - baumgarte * diff.y / dt - relativeVelocity.y
+    };
+    // Apply the impulse
+    if (!bodyA.isStatic()) {
+        bodyA.linearVelocity.x -= invMassA * impulse.x;
+        bodyA.linearVelocity.y -= invMassA * impulse.y;
+        bodyA.angularVelocity -= invIA * (rA.x * impulse.y - rA.y * impulse.x);
+    }
+    if (!bodyB.isStatic()) {
+        bodyB.linearVelocity.x += invMassB * impulse.x;
+        bodyB.linearVelocity.y += invMassB * impulse.y;
+        bodyB.angularVelocity += invIB * (rB.x * impulse.y - rB.y * impulse.x);
+    }
+}
+export function solveWorldPinJointConstraint(constraint, dt) {
+    const { body, localAnchor, worldAnchor } = constraint;
+    // Transform local anchor point to world space
+    const worldAnchorOnBody = PointCal.addVector(body.center, PointCal.rotatePoint(localAnchor, body.orientationAngle));
+    // Calculate the difference between the anchor points
+    const diff = PointCal.subVector(worldAnchorOnBody, worldAnchor);
+    // Calculate the relative velocity of the anchor point
+    const r = PointCal.subVector(worldAnchorOnBody, body.center);
+    const velocity = PointCal.addVector(body.linearVelocity, PointCal.crossProduct({ x: 0, y: 0, z: body.angularVelocity }, r));
+    // Calculate the mass matrix
+    const invMass = body.isStatic() ? 0 : 1 / body.mass;
+    const invI = body.isStatic() ? 0 : 1 / body.momentOfInertia;
+    const K = {
+        x: invMass + invI * r.y * r.y,
+        y: invMass + invI * r.x * r.x,
+        xy: -invI * r.x * r.y
+    };
+    // Calculate the impulse
+    const baumgarte = 0.2; // Baumgarte stabilization factor
+    const impulse = {
+        x: -K.x * diff.x - K.xy * diff.y - baumgarte * diff.x / dt - velocity.x,
+        y: -K.xy * diff.x - K.y * diff.y - baumgarte * diff.y / dt - velocity.y
+    };
+    // Apply the impulse
+    if (!body.isStatic()) {
+        body.linearVelocity.x += invMass * impulse.x;
+        body.linearVelocity.y += invMass * impulse.y;
+        body.angularVelocity += invI * (r.x * impulse.y - r.y * impulse.x);
+    }
+}
+//# sourceMappingURL=constraint.js.map

package/.rollup.cache/home/runner/work/ue-too/ue-too/packages/dynamics/dist/constraint.js.map

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package/.rollup.cache/home/runner/work/ue-too/ue-too/packages/dynamics/dist/index.js

@@ -0,0 +1,4 @@
+export * from "./rigidbody";
+export * from "./quadtree";
+export * from "./collision";
+//# sourceMappingURL=index.js.map

package/.rollup.cache/home/runner/work/ue-too/ue-too/packages/dynamics/dist/index.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.js","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA,cAAc,aAAa,CAAC;AAC5B,cAAc,YAAY,CAAC;AAC3B,cAAc,aAAa,CAAC"}