@ue-too/dynamics 0.9.4 → 0.10.0

package/index.js.map

@@ -2,16 +2,16 @@
   "version": 3,
   "sources": ["../src/rigidbody.ts", "../src/collision-filter.ts", "../src/quadtree.ts", "../src/dynamic-tree.ts", "../src/collision.ts", "../src/pair-manager.ts", "../src/world.ts", "../src/constraint.ts"],
   "sourcesContent": [
-    "import { PointCal, Point } from \"@ue-too/math\";\nimport { CollisionFilter, DEFAULT_COLLISION_FILTER } from \"./collision-filter\";\n\nexport interface RigidBody {\n    center: Point;\n    orientationAngle: number;\n    linearVelocity: Point;\n    angularVelocity: number;\n    AABB: {min: Point, max: Point};\n    mass: number;\n    staticFrictionCoeff: number;\n    momentOfInertia: number;\n    \n    // Collision filtering\n    collisionFilter: CollisionFilter;\n    \n    // Sleeping system\n    isSleeping: boolean;\n    sleepThreshold: number;\n    sleepTime: number;\n    timeAtRest: number;\n    \n    step(deltaTime: number): void;\n    isStatic(): boolean;\n    isMovingStatic(): boolean;\n    getMinMaxProjection(unitvector: Point): {min: number, max: number};\n    getCollisionAxes(relativeBody: RigidBody): Point[];\n    applyForce(force: Point): void;\n    applyForceInOrientation(force: Point): void;\n    // applyForceAtPoint(force: Point, point: Point): void;\n    move(delta: Point): void;\n    significantVertex(collisionNormal: Point): Point;\n    getSignificantVertices(collisionNormal: Point): Point[];\n    getNormalOfSignificantFace(collisionNormal: Point): Point;\n    getAdjacentFaces(collisionNormal: Point): {startPoint: {coord: Point, index: number}, endPoint: {coord: Point, index: number}}[];\n    \n    // Sleeping methods\n    setSleeping(sleeping: boolean): void;\n    updateSleeping(deltaTime: number): void;\n}\n\nexport interface VisualComponent{\n    draw(ctx: CanvasRenderingContext2D): void;\n}\n\nexport abstract class BaseRigidBody implements RigidBody{\n    \n    protected _center: Point;\n    protected _mass: number = 50;\n    protected _linearVelocity: Point;\n    protected _angularVelocity: number; // in radians\n    protected _orientationAngle: number = 0;\n    protected linearAcceleartion: Point;\n    protected force: Point;\n    protected isStaticBody: boolean = false;\n    protected _staticFrictionCoeff: number = 0.3;\n    protected dynamicFrictionCoeff: number = 0.3;\n    protected frictionEnabled: boolean = false;\n    protected isMovingStaticBody: boolean = false;\n    protected angularDampingFactor: number = 0.005;\n    \n    // Collision filtering\n    public collisionFilter: CollisionFilter = { ...DEFAULT_COLLISION_FILTER };\n    \n    // Sleeping system\n    public isSleeping: boolean = false;\n    public sleepThreshold: number = 0.01; // Velocity threshold to consider sleeping\n    public sleepTime: number = 0.5; // Time (seconds) to wait before sleeping\n    public timeAtRest: number = 0;\n    \n\n    constructor(center: Point, _orientationAngle: number = 0, mass: number = 50, isStaticBody: boolean = false, frictionEnabled: boolean = false){\n        this._center = center;\n        this._orientationAngle = _orientationAngle;\n        this._mass = mass;\n        this.isStaticBody = isStaticBody;\n        this.frictionEnabled = frictionEnabled;\n        this.force = {x: 0, y: 0};\n        this.linearAcceleartion = {x: 0, y: 0};\n        this._linearVelocity = {x: 0, y: 0};\n        this._angularVelocity = 0;\n    }\n\n    move(delta: Point): void {\n        if (!this.isStatic()){\n            this._center = PointCal.addVector(this._center, delta);\n        }\n    }\n\n    rotateRadians(angle: number): void {\n        this._orientationAngle += angle;\n    }\n\n    getCenter(): Point {\n        return this._center;\n    }\n\n    getOrientationAngle(): number{\n        return this._orientationAngle;\n    }\n\n    get angularVelocity(): number{\n        return this._angularVelocity;\n    }\n\n    set angularVelocity(angularVelocity: number){\n        this._angularVelocity = angularVelocity;\n    }\n\n    get orientationAngle(): number{\n        return this._orientationAngle;\n    }\n\n    isStatic(): boolean{\n        return this.isStaticBody;\n    }\n\n    isMovingStatic(): boolean {\n        return this.isMovingStaticBody;\n    }\n\n    setLinearVelocity(linearVelocity: Point): void {\n        this._linearVelocity = linearVelocity;\n    }\n\n    setMovingStatic(movingStatic: boolean):void {\n        this.isMovingStaticBody = movingStatic;\n    }\n\n    setOrientationAngle(angle: number): void{\n        this._orientationAngle = angle;\n    }\n\n    applyForce(force: Point): void {\n        if (PointCal.magnitude(this.force) !== 0){\n            this.force = PointCal.addVector(this.force, force);\n        } else {\n            this.force = force;\n        }\n    }\n\n    applyForceInOrientation(force: Point | number): void {\n        let forceTransformed: Point;\n        if (typeof force === \"number\") {\n            forceTransformed = PointCal.rotatePoint({x: force, y: 0}, this._orientationAngle);\n        } else {\n            forceTransformed = PointCal.rotatePoint(force, this._orientationAngle);\n        }\n        this.applyForce(forceTransformed);\n    }\n\n    step(deltaTime: number): void {\n        if (this.frictionEnabled) {\n            if (this.isStatic()  || \n                (this.linearVelocity.x == 0 && \n                 this.linearVelocity.y == 0 && \n                 PointCal.magnitude(PointCal.subVector({x: this.force.x, y: this.force.y}, {x: 0, y: 0})) >= 0 && \n                 PointCal.magnitude({x: this.force.x, y: this.force.y}) < this.staticFrictionCoeff * this.mass * 9.81)\n                ) {\n                if (this.force.z != undefined) {\n                    this.force = {x: 0, y: 0, z: this.force.z};\n                } else {\n                    this.force = {x: 0, y: 0};\n                }\n                // return;\n            } else {\n                let kineticFrictionDirection = PointCal.multiplyVectorByScalar(PointCal.unitVector({x: this._linearVelocity.x, y: this._linearVelocity.y}), -1);\n                let kineticFriction = PointCal.multiplyVectorByScalar(kineticFrictionDirection, this.dynamicFrictionCoeff * this.mass * 9.81);\n                this.force = PointCal.addVector(this.force, kineticFriction);\n            }\n        }\n        const angularDamping = this._angularVelocity != 0 ? this._angularVelocity > 0 ? -this.angularDampingFactor : this.angularDampingFactor : 0;\n        // console.log(\"angular velocity\", this._angularVelocity);\n        // console.log(\"angular damping\", angularDamping);\n        if (Math.abs(this._angularVelocity) < Math.abs(angularDamping)) {\n            this._angularVelocity = 0;\n        } else {\n            this._angularVelocity += angularDamping;\n        }\n        this._orientationAngle += this._angularVelocity * deltaTime;\n        if (PointCal.magnitude({x: this._linearVelocity.x, y: this._linearVelocity.y}) < PointCal.magnitude(PointCal.divideVectorByScalar(PointCal.multiplyVectorByScalar(this.force, deltaTime), this.mass))){\n            if (this._linearVelocity.z != undefined) {\n                this._linearVelocity = {x: 0, y: 0, z: this._linearVelocity.z};\n            } else {\n                this._linearVelocity = {x: 0, y: 0};\n            }\n        }\n        const gravitationalForce = -9.81 * this._mass;\n        this.force = PointCal.addVector(this.force, {x: 0, y: 0, z: gravitationalForce});\n        const deltaLinearVelocity = PointCal.divideVectorByScalar(PointCal.multiplyVectorByScalar(this.force, deltaTime), this.mass);\n        this._linearVelocity = PointCal.addVector(this._linearVelocity, deltaLinearVelocity);\n        const deltaCenter = PointCal.multiplyVectorByScalar(this._linearVelocity, deltaTime);\n        // console.log('delta center', deltaCenter);\n        this._center = PointCal.addVector(this._center, deltaCenter);\n        if (this._center.z != undefined && this._center.z < 0) {\n            this._center.z = 0;\n        }\n        this.force = {x: 0, y: 0};\n    }\n\n    get center(): Point {\n        return this._center;\n    }\n\n    set center(dest: Point){\n        this._center = dest;\n    }\n\n    get linearVelocity(): Point {\n        return this._linearVelocity;\n    }\n\n    set linearVelocity(dest: Point){\n        this._linearVelocity = dest;\n    }\n\n    get mass(): number{\n        return this._mass;\n    }\n\n    get staticFrictionCoeff(): number{\n        return this._staticFrictionCoeff;\n    }\n\n    set staticFrictionCoeff(coeff: number){\n        this._staticFrictionCoeff = coeff;\n    }\n\n    abstract get momentOfInertia(): number;\n    abstract getMinMaxProjection(unitvector: Point): {min: number, max: number};\n    abstract getCollisionAxes(relativeBody: RigidBody): Point[];\n    abstract get AABB(): {min: Point, max: Point};\n    abstract significantVertex(collisionNormal: Point): Point;\n    abstract getSignificantVertices(collisionNormal: Point): Point[];\n    abstract getNormalOfSignificantFace(collisionNormal: Point): Point;\n    abstract getAdjacentFaces(collisionNormal: Point): {startPoint: {coord: Point, index: number}, endPoint: {coord: Point, index: number}}[];\n\n    // Sleeping methods\n    setSleeping(sleeping: boolean): void {\n        if (sleeping && !this.isSleeping) {\n            this.isSleeping = true;\n            this._linearVelocity = { x: 0, y: 0 };\n            this._angularVelocity = 0;\n        } else if (!sleeping && this.isSleeping) {\n            this.isSleeping = false;\n            this.timeAtRest = 0;\n        }\n    }\n\n    updateSleeping(deltaTime: number): void {\n        if (this.isStatic() || this.isMovingStatic()) return;\n\n        const speed = PointCal.magnitude(this._linearVelocity);\n        const angularSpeed = Math.abs(this._angularVelocity);\n\n        if (speed < this.sleepThreshold && angularSpeed < this.sleepThreshold) {\n            this.timeAtRest += deltaTime;\n            if (this.timeAtRest >= this.sleepTime) {\n                this.setSleeping(true);\n            }\n        } else {\n            this.timeAtRest = 0;\n            if (this.isSleeping) {\n                this.setSleeping(false);\n            }\n        }\n    }\n}\n\nexport class VisaulCircleBody implements VisualComponent, RigidBody {\n\n    private _circle: Circle;\n    private _context: CanvasRenderingContext2D;\n    \n    // Collision filtering\n    public collisionFilter: CollisionFilter = { ...DEFAULT_COLLISION_FILTER };\n    \n    // Sleeping system\n    public isSleeping: boolean = false;\n    public sleepThreshold: number = 0.01;\n    public sleepTime: number = 0.5;\n    public timeAtRest: number = 0;\n\n    constructor(center: Point = {x: 0, y: 0}, radius: number, drawingContext: CanvasRenderingContext2D, _orientationAngle: number = 0, mass: number = 50, isStatic: boolean = false, frictionEnabled: boolean = true) {\n        this._circle = new Circle(center, radius, _orientationAngle, mass, isStatic, frictionEnabled);\n        this._context = drawingContext;\n    }\n\n    draw(ctx: CanvasRenderingContext2D): void {\n        ctx.beginPath();\n        ctx.arc(this._circle.center.x, this._circle.center.y, this._circle.radius, 0, 2 * Math.PI);\n        ctx.stroke();\n    }\n\n    step(deltaTime: number): void {\n        this._circle.step(deltaTime);\n        this.draw(this._context);\n    }\n\n    isStatic(): boolean {\n        return this._circle.isStatic();\n    }\n\n    isMovingStatic(): boolean {\n        return this._circle.isMovingStatic();\n    }\n\n    getMinMaxProjection(unitvector: Point): { min: number; max: number; } {\n        return this._circle.getMinMaxProjection(unitvector);\n    }\n\n    getCollisionAxes(relativeBody: RigidBody): Point[] {\n        return this._circle.getCollisionAxes(relativeBody);\n    }\n\n    applyForce(force: Point): void {\n        this._circle.applyForce(force);\n    }\n\n    get AABB(): { min: Point; max: Point; } {\n        return this._circle.AABB;\n    }\n\n    getMass(): number {\n        return this._circle.mass;\n    }\n\n    applyForceInOrientation(force: Point): void {\n        this._circle.applyForceInOrientation(force);\n    }\n\n    move(delta: Point): void {\n        this._circle.move(delta);\n    }\n\n    getSignificantVertices(collisionNormal: Point): Point[] {\n        return this._circle.getSignificantVertices(collisionNormal);\n    }\n\n    get center(): Point {\n        return this._circle.center;\n    }\n\n    set center(dest: Point){\n        this._circle.center = dest;\n    }\n\n    get linearVelocity(): Point {\n        return this._circle.linearVelocity;\n    }\n\n    set linearVelocity(dest: Point){\n        this._circle.linearVelocity = dest;\n    }\n\n    get orientationAngle(){\n        return this._circle.orientationAngle;\n    }\n\n    significantVertex(collisionNormal: Point): Point {\n        return this._circle.significantVertex(collisionNormal);\n    }\n\n    set angularVelocity(angularVelocity: number){\n        this._circle.angularVelocity = angularVelocity;\n    }\n\n    get angularVelocity(): number{\n        return this._circle.angularVelocity;\n    }\n\n    get mass(): number{\n        return this._circle.mass;\n    }\n\n    getNormalOfSignificantFace(collisionNormal: Point): Point {\n        return this._circle.getNormalOfSignificantFace(collisionNormal);\n    }\n\n    get staticFrictionCoeff(): number{\n        return this._circle.staticFrictionCoeff;\n    }\n\n    set staticFrictionCoeff(coeff: number){\n        this._circle.staticFrictionCoeff = coeff;\n    }\n\n    getAdjacentFaces(collisionNormal: Point): {startPoint: {coord: Point, index: number}, endPoint: {coord: Point, index: number}}[] {\n        return this._circle.getAdjacentFaces(collisionNormal);\n    }\n\n    get momentOfInertia(): number {\n        return this._circle.momentOfInertia;\n    }\n\n    // Sleeping methods\n    setSleeping(sleeping: boolean): void {\n        if (sleeping && !this.isSleeping) {\n            this.isSleeping = true;\n            this._circle.linearVelocity = { x: 0, y: 0 };\n            this._circle.angularVelocity = 0;\n        } else if (!sleeping && this.isSleeping) {\n            this.isSleeping = false;\n            this.timeAtRest = 0;\n        }\n    }\n\n    updateSleeping(deltaTime: number): void {\n        if (this._circle.isStatic() || this._circle.isMovingStatic()) return;\n\n        const speed = PointCal.magnitude(this._circle.linearVelocity);\n        const angularSpeed = Math.abs(this._circle.angularVelocity);\n\n        if (speed < this.sleepThreshold && angularSpeed < this.sleepThreshold) {\n            this.timeAtRest += deltaTime;\n            if (this.timeAtRest >= this.sleepTime) {\n                this.setSleeping(true);\n            }\n        } else {\n            this.timeAtRest = 0;\n            if (this.isSleeping) {\n                this.setSleeping(false);\n            }\n        }\n    }\n\n}\n\nexport class VisualPolygonBody implements VisualComponent, RigidBody {\n    \n    private _polygon: Polygon;\n    private _context: CanvasRenderingContext2D;\n    \n    // Collision filtering\n    public collisionFilter: CollisionFilter = { ...DEFAULT_COLLISION_FILTER };\n    \n    // Sleeping system\n    public isSleeping: boolean = false;\n    public sleepThreshold: number = 0.01;\n    public sleepTime: number = 0.5;\n    public timeAtRest: number = 0;\n\n    constructor(center: Point = {x: 0, y: 0}, vertices: Point[], drawingContext: CanvasRenderingContext2D, _orientationAngle: number = 0, mass: number = 50, isStatic: boolean = false, frictionEnabled: boolean = true) {\n        this._polygon = new Polygon(center, vertices, _orientationAngle, mass, isStatic, frictionEnabled);\n        this._context = drawingContext;\n    }\n\n    draw(ctx: CanvasRenderingContext2D): void {\n        ctx.beginPath();\n        let vertices = this._polygon.getVerticesAbsCoord();\n        ctx.moveTo(vertices[0].x, vertices[0].y);\n        vertices.forEach(vertex => {\n            ctx.lineTo(vertex.x, vertex.y);\n        });\n        ctx.lineTo(vertices[0].x, vertices[0].y);\n        ctx.stroke();\n        // ctx.beginPath();\n        // ctx.rect(this._polygon.AABB.min.x, this._polygon.AABB.min.y, this._polygon.AABB.max.x - this._polygon.AABB.min.x, this._polygon.AABB.max.y - this._polygon.AABB.min.y);\n        // ctx.stroke();\n    }\n\n    step(deltaTime: number): void {\n        this._polygon.step(deltaTime);\n        this.draw(this._context);\n    }\n\n    isStatic(): boolean {\n        return this._polygon.isStatic();\n    }\n\n    isMovingStatic(): boolean {\n        return this._polygon.isMovingStatic();\n    }\n\n    getMinMaxProjection(unitvector: Point): { min: number; max: number; } {\n        return this._polygon.getMinMaxProjection(unitvector);\n    }\n\n    getCollisionAxes(relativeBody: RigidBody): Point[] {\n        return this._polygon.getCollisionAxes(relativeBody);\n    }\n\n    applyForce(force: Point): void {\n        this._polygon.applyForce(force);\n    }\n\n    applyForceInOrientation(force: Point): void {\n        this._polygon.applyForceInOrientation(force);\n    }\n\n    setLinearVelocity(linearVelocity: Point): void {\n        this._polygon.setLinearVelocity(linearVelocity);\n    }\n\n    move(delta: Point): void {\n        this._polygon.move(delta);\n    }\n\n    get center(): Point {\n        return this._polygon.center;\n    }\n\n    set center(dest: Point){\n        this._polygon.center = dest;\n    }\n\n    get linearVelocity(): Point {\n        return this._polygon.linearVelocity;\n    }\n\n    set linearVelocity(dest: Point){\n        this._polygon.linearVelocity = dest;\n    }\n\n    get angularVelocity(): number{\n        return this._polygon.angularVelocity;\n    }\n\n    set angularVelocity(angularVelocity: number){\n        this._polygon.angularVelocity = angularVelocity;\n    }\n\n    get orientationAngle(): number{\n        return this._polygon.orientationAngle;\n    }\n\n    significantVertex(collisionNormal: Point): Point {\n        return this._polygon.significantVertex(collisionNormal);\n    }\n\n    getSignificantVertices(collisionNormal: Point): Point[] {\n        return this._polygon.getSignificantVertices(collisionNormal);\n    }\n\n    get AABB(): {min: Point, max: Point}{\n        return this._polygon.AABB;\n    }\n\n    get mass(): number{\n        return this._polygon.mass;\n    }\n    \n    get staticFrictionCoeff(): number{\n        return this._polygon.staticFrictionCoeff;\n    }\n\n    set staticFrictionCoeff(coeff: number){\n        this._polygon.staticFrictionCoeff = coeff;\n    }\n\n    get momentOfInertia(): number {\n        return this._polygon.momentOfInertia;\n    }\n\n    getNormalOfSignificantFace(collisionNormal: Point): Point {\n        return this._polygon.getNormalOfSignificantFace(collisionNormal);\n    }\n\n    getAdjacentFaces(collisionNormal: Point): {startPoint: {coord: Point, index: number}, endPoint: {coord: Point, index: number}}[] {\n        return this._polygon.getAdjacentFaces(collisionNormal);\n    }\n\n    // Sleeping methods\n    setSleeping(sleeping: boolean): void {\n        if (sleeping && !this.isSleeping) {\n            this.isSleeping = true;\n            this._polygon.linearVelocity = { x: 0, y: 0 };\n            this._polygon.angularVelocity = 0;\n        } else if (!sleeping && this.isSleeping) {\n            this.isSleeping = false;\n            this.timeAtRest = 0;\n        }\n    }\n\n    updateSleeping(deltaTime: number): void {\n        if (this._polygon.isStatic() || this._polygon.isMovingStatic()) return;\n\n        const speed = PointCal.magnitude(this._polygon.linearVelocity);\n        const angularSpeed = Math.abs(this._polygon.angularVelocity);\n\n        if (speed < this.sleepThreshold && angularSpeed < this.sleepThreshold) {\n            this.timeAtRest += deltaTime;\n            if (this.timeAtRest >= this.sleepTime) {\n                this.setSleeping(true);\n            }\n        } else {\n            this.timeAtRest = 0;\n            if (this.isSleeping) {\n                this.setSleeping(false);\n            }\n        }\n    }\n}\n\nexport class Polygon extends BaseRigidBody {\n\n    private vertices: Point[];\n    private _momentOfInertia: number;\n\n    constructor(center: Point = {x: 0, y: 0}, vertices: Point[], _orientationAngle: number = 0, mass: number = 50, isStatic: boolean = false, frictionEnabled: boolean = true) {\n        super(center, _orientationAngle, mass, isStatic, frictionEnabled);\n        this.vertices = vertices;\n        this.step = this.step.bind(this);\n\n        let numerator = this.vertices.reduce((acc, vertex, index) => {\n            let nextPointIndex = index < this.vertices.length - 1 ? index + 1 : 0;\n            let nextPoint = this.vertices[nextPointIndex];\n            let crossProduct = PointCal.crossProduct(nextPoint, vertex);\n            return acc + PointCal.magnitude(crossProduct) * (PointCal.dotProduct(vertex, vertex) + PointCal.dotProduct(vertex, nextPoint) + PointCal.dotProduct(nextPoint, nextPoint));\n        }, 0);\n\n        let denomiator = this.vertices.reduce((acc, vertex, index) => {\n            return acc + PointCal.magnitude(PointCal.crossProduct(this.vertices[index < this.vertices.length - 1 ? index + 1 : 0], vertex));\n        }, 0);\n\n        \n        this._momentOfInertia = this._mass * numerator / (6 * denomiator);\n    }\n\n\n    getVerticesAbsCoord(): Point[]{\n        return this.vertices.map(vertex=>{\n            return PointCal.addVector(this._center, PointCal.rotatePoint(vertex, this._orientationAngle));\n        });\n    }\n\n    getCollisionAxes(relativeBody: RigidBody): Point[] {\n        return this.getVerticesAbsCoord().map((vertex, index, absVertices)=>{\n            let vector = PointCal.subVector(vertex, absVertices[absVertices.length - 1]);\n            if (index > 0){\n                vector = PointCal.subVector(vertex, absVertices[index - 1]); \n            }\n            return PointCal.unitVector(PointCal.rotatePoint(vector, Math.PI / 2));\n        });\n    }\n\n    getMinMaxProjection(unitvector: Point): { min: number; max: number; } {\n        let vertices = this.getVerticesAbsCoord();\n        \n        let projections = vertices.map( vertex => {\n            return PointCal.dotProduct(vertex, unitvector);\n        });\n\n        \n        return {min: Math.min(...projections), max: Math.max(...projections)};\n    }\n\n    get AABB(): { min: Point; max: Point; } {\n        let points = this.getVerticesAbsCoord();\n        let xCoords = points.map(vertex => vertex.x);\n        let yCoords = points.map(vertex => vertex.y);\n        return {min: {x: Math.min(...xCoords), y: Math.min(...yCoords)}, max: {x: Math.max(...xCoords), y: Math.max(...yCoords)}};\n    }\n\n    significantVertex(collisionNormal: Point): Point {\n        let vertices = this.getVerticesAbsCoord();\n        let verticesProjected = vertices.map(vertex => PointCal.dotProduct(vertex, collisionNormal));\n        let maxIndex = verticesProjected.indexOf(Math.max(...verticesProjected));\n        return vertices[maxIndex];\n    }\n\n    getSignificantVertices(collisionNormal: Point): Point[]{\n        let vertices = this.getVerticesAbsCoord();\n        let verticesProjected = vertices.map(vertex => PointCal.dotProduct(vertex, collisionNormal));\n        let maxIndex = verticesProjected.indexOf(Math.max(...verticesProjected));\n        const tipVertex = vertices[maxIndex];\n        let prevPointIndex = maxIndex > 0 ? maxIndex - 1 : vertices.length - 1;\n        let nextPointIndex = maxIndex < vertices.length - 1 ? maxIndex + 1 : 0;\n        const prevPoint = vertices[prevPointIndex];\n        const nextPoint = vertices[nextPointIndex];\n        const prevPointProjected = PointCal.dotProduct(prevPoint, collisionNormal);\n        const nextPointProjected = PointCal.dotProduct(nextPoint, collisionNormal);\n        if (prevPointProjected > nextPointProjected) {\n            return [prevPoint, tipVertex];\n        } else {\n            return [tipVertex, nextPoint];\n        }\n    }\n\n    getNormalOfSignificantFace(collisionNormal: Point): Point{\n        const vertices = this.getSignificantVertices(collisionNormal);\n        const direction = PointCal.unitVectorFromA2B(vertices[0], vertices[1]);\n        return PointCal.rotatePoint(direction, -Math.PI / 2);\n    }\n\n    getAdjacentFaces(collisionNormal: Point): {startPoint: {coord: Point, index: number}, endPoint: {coord: Point, index: number}}[]{\n        let vertices = this.getVerticesAbsCoord();\n        let verticesProjected = vertices.map(vertex => PointCal.dotProduct(vertex, collisionNormal));\n        let maxIndex = verticesProjected.indexOf(Math.max(...verticesProjected));\n        const tipVertex = vertices[maxIndex];\n        let prevPointIndex = maxIndex > 0 ? maxIndex - 1 : vertices.length - 1;\n        let nextPointIndex = maxIndex < vertices.length - 1 ? maxIndex + 1 : 0;\n        const prevPoint = vertices[prevPointIndex];\n        const nextPoint = vertices[nextPointIndex];\n        const prevPointProjected = PointCal.dotProduct(prevPoint, collisionNormal);\n        const nextPointProjected = PointCal.dotProduct(nextPoint, collisionNormal);\n        const adjacentFaces: Point[] = [];\n        const adjacentFacesWithIndex: {startPoint: {coord: Point, index: number}, endPoint: {coord: Point, index: number}}[] = [];\n        if (prevPointProjected > nextPointProjected) {\n            adjacentFaces.push(prevPoint, tipVertex);\n            adjacentFacesWithIndex.push({startPoint: {coord: prevPoint, index: prevPointIndex}, endPoint: {coord: tipVertex, index: maxIndex}});\n\n            // the nextface is the next face\n            adjacentFacesWithIndex.unshift({startPoint: {coord: tipVertex, index: maxIndex}, endPoint: {coord: nextPoint, index: nextPointIndex}});\n            // need to get the previous face of the previous face\n            let prevPrevPointIndex = prevPointIndex > 0 ? prevPointIndex - 1 : vertices.length - 1;\n            adjacentFacesWithIndex.unshift({startPoint: {coord: vertices[prevPrevPointIndex], index: prevPrevPointIndex}, endPoint: {coord: prevPoint, index: prevPointIndex}});\n        } else {\n            adjacentFaces.push(tipVertex, nextPoint);\n            adjacentFacesWithIndex.push({startPoint: {coord: tipVertex, index: maxIndex}, endPoint: {coord: nextPoint, index: nextPointIndex}});\n\n            // need to get the next face of the next face\n            let nextNextPointIndex = nextPointIndex < vertices.length - 1 ? nextPointIndex + 1 : 0;\n            adjacentFacesWithIndex.unshift({startPoint: {coord: nextPoint, index: nextPointIndex}, endPoint: {coord: vertices[nextNextPointIndex], index: nextNextPointIndex}})\n\n            // the prevoius face is the previous face\n            adjacentFacesWithIndex.unshift({startPoint: {coord: prevPoint, index: prevPointIndex}, endPoint: {coord: tipVertex, index: maxIndex}});\n        }\n        \n        return adjacentFacesWithIndex;\n    }\n\n    get momentOfInertia(): number {\n        return this._momentOfInertia;\n    }\n\n}\n\nexport class Circle extends BaseRigidBody {\n\n    private _radius: number;\n    private _momentOfInertia: number;\n\n    constructor(center: Point = {x: 0, y: 0}, radius: number, _orientationAngle: number = 0, mass: number = 50, isStatic: boolean = false, frictionEnabled: boolean = true) {\n        super(center, _orientationAngle, mass, isStatic, frictionEnabled);\n        this._radius = radius;\n        this.step = this.step.bind(this);\n        this._momentOfInertia = this._mass * this._radius * this._radius / 2;\n    }\n\n    getMinMaxProjection(unitvector: Point): { min: number; max: number; } {\n        let PositiveFurthest = PointCal.addVector(this._center, PointCal.multiplyVectorByScalar(unitvector, this._radius));\n        let NegativeFurthest = PointCal.addVector(this._center, PointCal.multiplyVectorByScalar(unitvector, -this._radius));\n        return {min: PointCal.dotProduct(NegativeFurthest, unitvector), max: PointCal.dotProduct(PositiveFurthest, unitvector)};\n    }\n\n    getCollisionAxes(relativeBody: RigidBody): Point[] {\n        return [PointCal.unitVector(PointCal.subVector(relativeBody.center, this._center))];\n    }\n\n    get AABB(): { min: Point; max: Point; } {\n        return {min: PointCal.subVector(this._center, {x: this._radius, y: this._radius}), max: PointCal.addVector(this._center, {x: this._radius, y: this._radius})};\n    }\n\n    significantVertex(collisionNormal: Point): Point {\n        return PointCal.addVector(this._center, PointCal.multiplyVectorByScalar(collisionNormal, this._radius));\n    }\n\n    get radius(): number {\n        return this._radius;\n    }\n\n    getSignificantVertices(collisionNormal: Point): Point[]{\n        return [PointCal.addVector(this._center, PointCal.multiplyVectorByScalar(collisionNormal, this._radius))];\n    }\n\n    getNormalOfSignificantFace(collisionNormal: Point): Point{\n        return PointCal.unitVector(collisionNormal);\n    }\n\n    getAdjacentFaces(collisionNormal: Point): {startPoint: {coord: Point, index: number}, endPoint: {coord: Point, index: number}}[]{\n        return [];\n    }\n\n    get momentOfInertia(): number {\n        return this._momentOfInertia;\n    }\n}\n",
-    "export interface CollisionFilter {\n    category: number;    // What category this body belongs to\n    mask: number;        // What categories this body can collide with\n    group: number;       // Collision group (negative = never collide, positive = always collide if same group)\n}\n\nexport const DEFAULT_COLLISION_FILTER: CollisionFilter = {\n    category: 0x0001,\n    mask: 0xFFFF, \n    group: 0\n};\n\nexport function canCollide(filterA: CollisionFilter, filterB: CollisionFilter): boolean {\n    // If objects are in the same group\n    if (filterA.group !== 0 && filterA.group === filterB.group) {\n        return filterA.group > 0; // Positive groups collide, negative groups don't\n    }\n\n    // Check category-mask pairs\n    return (filterA.category & filterB.mask) !== 0 && (filterB.category & filterA.mask) !== 0;\n}\n\n// Common collision categories for games\nexport const CollisionCategory = {\n    STATIC: 0x0001,      // Walls, floors, static objects\n    DYNAMIC: 0x0002,     // Moving objects  \n    PLAYER: 0x0004,      // Player character\n    ENEMY: 0x0008,       // Enemy entities\n    PROJECTILE: 0x0010,  // Bullets, projectiles\n    SENSOR: 0x0020,      // Trigger zones, sensors\n    PICKUP: 0x0040,      // Items that can be collected\n    PLATFORM: 0x0080,    // One-way platforms\n} as const;",
-    "import { Point } from \"@ue-too/math\";\nimport { RigidBody } from \"./rigidbody\";\nimport { SpatialIndex, SpatialIndexObject } from \"./dynamic-tree\";\n\nexport class RectangleBound{\n    private bottomLeft: Point;\n    private width: number;\n    private height: number;\n\n    constructor(bottomLeft: Point, width: number, height: number){\n        this.bottomLeft = bottomLeft;\n        this.width = width;\n        this.height = height;\n    }\n\n    getWidth(){\n        return this.width;\n    }\n\n    getHeight(){\n        return this.height;\n    }\n\n    getbottomLeft(){\n        return this.bottomLeft;\n    }\n}\n\nexport type QuadTreeObject = SpatialIndexObject;\n\nexport class QuadTree<T extends QuadTreeObject> implements SpatialIndex<T> {\n    private MAX_OBJECTS = 10; // per node\n    private MAX_LEVELS = 5;\n\n    private level: number;\n    private objects: T[] = [];\n    private nodes: (QuadTree<T> | undefined)[] = [];\n    private bounds: RectangleBound;\n    \n\n    constructor(level: number, bounds: RectangleBound){\n        this.level = level;\n        this.objects = [];\n        this.bounds = bounds;\n        this.nodes = [undefined, undefined, undefined, undefined];\n    }\n\n    draw(context: CanvasRenderingContext2D){\n        context.beginPath();\n        context.rect(this.bounds.getbottomLeft().x, this.bounds.getbottomLeft().y, this.bounds.getWidth(), this.bounds.getHeight());\n        context.stroke();\n        // console.log(\"objects: \", this.objects.length, \"level: \", this.level);\n        for(let index = 0; index < this.nodes.length; index++){\n            let node = this.nodes[index];\n            if(node != undefined){\n                node.draw(context);\n            }\n        }\n    }\n\n    clear(){\n        this.objects = [];\n        for(let index = 0; index < this.nodes.length; index++){\n            let node = this.nodes[index];\n            if(node != undefined){\n                node.clear();\n                node = undefined;\n            }\n        }\n    }\n\n    split(){\n        // console.log(\"split\");\n        let subWidth = this.bounds.getWidth() / 2;\n        let subHeight = this.bounds.getHeight() / 2;\n        let bottomLeft = this.bounds.getbottomLeft();\n        // bottom left is the first node and it goes clock wise \n        this.nodes[0] = new QuadTree<T>(this.level + 1, new RectangleBound({x: bottomLeft.x, y: bottomLeft.y}, subWidth, subHeight));\n        this.nodes[1] = new QuadTree<T>(this.level + 1, new RectangleBound({x: bottomLeft.x, y: bottomLeft.y + subHeight}, subWidth, subHeight));\n        this.nodes[2] = new QuadTree<T>(this.level + 1, new RectangleBound({x: bottomLeft.x + subWidth, y: bottomLeft.y + subHeight}, subWidth, subHeight));\n        this.nodes[3] = new QuadTree<T>(this.level + 1, new RectangleBound({x: bottomLeft.x + subWidth, y: bottomLeft.y}, subWidth, subHeight));\n    }\n\n    getIndex(vBody: T){\n        let midPoint = {x: this.bounds.getbottomLeft().x + this.bounds.getWidth() / 2, y: this.bounds.getbottomLeft().y + this.bounds.getHeight() / 2};\n        let points = vBody.AABB;\n        let bottom = points.max.y < midPoint.y && points.min.y > this.bounds.getbottomLeft().y;\n        let left = points.max.x < midPoint.x && points.min.x > this.bounds.getbottomLeft().x;\n        let right = points.max.x > midPoint.x && points.min.x > midPoint.x;\n        let top = points.max.y > midPoint.y && points.min.y > midPoint.y;\n        // console.log(\"level\", this.level);\n        if (bottom && left){\n            return 0;\n        } else if (bottom && right){\n            return 3;\n        } else if (top && left){\n            return 1;\n        } else if (top && right){\n            return 2;\n        }\n        return -1;\n    }\n\n    insert(vBody: T){\n        let node = this.nodes[0];\n        if (node != undefined){\n            let index = this.getIndex(vBody);\n\n            if (index !== -1){\n                node = this.nodes[index];\n                node?.insert(vBody);\n                return;\n            }\n        }\n\n        this.objects.push(vBody);\n        if(this.objects.length > this.MAX_OBJECTS && this.level < this.MAX_LEVELS){\n            if (this.nodes[0] == null || this.nodes[0] == undefined){\n                this.split();\n            }\n            let i = 0;\n            while (i < this.objects.length){\n                let index = this.getIndex(this.objects[i]);\n                let node = this.nodes[index];\n                if (index != -1 && node !== undefined){\n                    let vBody = this.objects[i];\n                    this.objects.splice(i, 1);\n                    node.insert(vBody);\n                } else{\n                    i++;\n                }\n            }\n        }\n    }\n\n    retrieve(vBody: T): T[]{\n        let index = this.getIndex(vBody);\n        let res = [];\n        let node = this.nodes[index];\n        if(index !== -1 && node !== undefined){\n            res.push(...node.retrieve(vBody));\n        }\n        res.push(...this.objects);\n        return res;\n    }\n\n}",
-    "import { Point } from \"@ue-too/math\";\n\nexport interface SpatialIndexObject {\n    AABB: { min: Point, max: Point };\n}\n\nexport interface SpatialIndex<T extends SpatialIndexObject> {\n    clear(): void;\n    insert(object: T): void;\n    retrieve(object: T): T[];\n    draw?(context: CanvasRenderingContext2D): void;\n}\n\ninterface AABB {\n    min: Point;\n    max: Point;\n}\n\nclass TreeNode<T extends SpatialIndexObject> {\n    public parent: TreeNode<T> | null = null;\n    public children: [TreeNode<T> | null, TreeNode<T> | null] = [null, null];\n    public aabb: AABB = { min: { x: 0, y: 0 }, max: { x: 0, y: 0 } };\n    public object: T | null = null;\n    public height: number = 0;\n\n    constructor(object?: T) {\n        if (object) {\n            this.setLeaf(object);\n        }\n    }\n\n    isLeaf(): boolean {\n        return this.children[0] === null;\n    }\n\n    setLeaf(object: T): void {\n        this.object = object;\n        this.updateAABB();\n        this.children = [null, null];\n        this.height = 0;\n    }\n\n    setBranch(child1: TreeNode<T>, child2: TreeNode<T>): void {\n        child1.parent = this;\n        child2.parent = this;\n        this.children = [child1, child2];\n        this.object = null;\n        this.updateAABB();\n        this.height = 1 + Math.max(child1.height, child2.height);\n    }\n\n    updateAABB(margin: number = 0.1): void {\n        if (this.isLeaf() && this.object) {\n            // Create \"fat\" AABB with margin for dynamic objects\n            const obj = this.object.AABB;\n            this.aabb = {\n                min: { x: obj.min.x - margin, y: obj.min.y - margin },\n                max: { x: obj.max.x + margin, y: obj.max.y + margin }\n            };\n        } else if (this.children[0] && this.children[1]) {\n            // Union of children AABBs\n            const aabb1 = this.children[0].aabb;\n            const aabb2 = this.children[1].aabb;\n            this.aabb = {\n                min: {\n                    x: Math.min(aabb1.min.x, aabb2.min.x),\n                    y: Math.min(aabb1.min.y, aabb2.min.y)\n                },\n                max: {\n                    x: Math.max(aabb1.max.x, aabb2.max.x),\n                    y: Math.max(aabb1.max.y, aabb2.max.y)\n                }\n            };\n        }\n    }\n\n    getSibling(): TreeNode<T> | null {\n        if (!this.parent) return null;\n        return this.parent.children[0] === this ? this.parent.children[1] : this.parent.children[0];\n    }\n\n    getBalance(): number {\n        if (this.isLeaf()) return 0;\n        const leftHeight = this.children[0] ? this.children[0].height : 0;\n        const rightHeight = this.children[1] ? this.children[1].height : 0;\n        return leftHeight - rightHeight;\n    }\n}\n\n// Endpoint for Sweep and Prune algorithm\ninterface Endpoint<T> {\n    value: number;\n    isMin: boolean;\n    object: T;\n    id: number;\n}\n\n// Optimized Sweep and Prune implementation\nexport class SweepAndPrune<T extends SpatialIndexObject> implements SpatialIndex<T> {\n    private xEndpoints: Endpoint<T>[] = [];\n    private objects: Map<T, { minEndpoint: Endpoint<T>, maxEndpoint: Endpoint<T> }> = new Map();\n    private nextId: number = 0;\n\n    clear(): void {\n        this.xEndpoints = [];\n        this.objects.clear();\n        this.nextId = 0;\n    }\n\n    insert(object: T): void {\n        const id = this.nextId++;\n        \n        const minEndpoint: Endpoint<T> = { value: object.AABB.min.x, isMin: true, object, id };\n        const maxEndpoint: Endpoint<T> = { value: object.AABB.max.x, isMin: false, object, id };\n        \n        this.objects.set(object, { minEndpoint, maxEndpoint });\n\n        // Use binary search + splice for O(n) insertion instead of O(n log n) sort\n        this.insertEndpointSorted(minEndpoint);\n        this.insertEndpointSorted(maxEndpoint);\n    }\n\n    update(object: T): void {\n        const endpoints = this.objects.get(object);\n        if (!endpoints) return;\n\n        const newMinX = object.AABB.min.x;\n        const newMaxX = object.AABB.max.x;\n\n        // Update endpoint values and maintain sorted order\n        if (endpoints.minEndpoint.value !== newMinX) {\n            this.removeEndpoint(endpoints.minEndpoint);\n            endpoints.minEndpoint.value = newMinX;\n            this.insertEndpointSorted(endpoints.minEndpoint);\n        }\n\n        if (endpoints.maxEndpoint.value !== newMaxX) {\n            this.removeEndpoint(endpoints.maxEndpoint);\n            endpoints.maxEndpoint.value = newMaxX;\n            this.insertEndpointSorted(endpoints.maxEndpoint);\n        }\n    }\n\n    remove(object: T): void {\n        const endpoints = this.objects.get(object);\n        if (!endpoints) return;\n\n        this.removeEndpoint(endpoints.minEndpoint);\n        this.removeEndpoint(endpoints.maxEndpoint);\n        this.objects.delete(object);\n    }\n\n    retrieve(queryObject: T): T[] {\n        const result: T[] = [];\n        const queryMin = queryObject.AABB.min.x;\n        const queryMax = queryObject.AABB.max.x;\n\n        // Find all objects that overlap on x-axis using sweep line\n        for (const endpoint of this.xEndpoints) {\n            if (endpoint.value > queryMax) break;\n            \n            if (endpoint.isMin && endpoint.object !== queryObject) {\n                // Object starts - check if it overlaps with query on x-axis\n                const objMax = this.objects.get(endpoint.object)?.maxEndpoint.value;\n                if (objMax !== undefined && objMax >= queryMin) {\n                    // Check y-axis overlap\n                    if (this.aabbIntersects(endpoint.object.AABB, queryObject.AABB)) {\n                        result.push(endpoint.object);\n                    }\n                }\n            }\n        }\n\n        return result;\n    }\n\n    // Efficient method to find all collision pairs - the main strength of sweep-and-prune\n    findAllOverlaps(): Array<{a: T, b: T}> {\n        const pairs: Array<{a: T, b: T}> = [];\n        const activeObjects = new Set<T>();\n        \n        for (const endpoint of this.xEndpoints) {\n            if (endpoint.isMin) {\n                // Check against all currently active objects\n                for (const activeObj of activeObjects) {\n                    if (this.aabbIntersects(endpoint.object.AABB, activeObj.AABB)) {\n                        pairs.push({a: endpoint.object, b: activeObj});\n                    }\n                }\n                activeObjects.add(endpoint.object);\n            } else {\n                activeObjects.delete(endpoint.object);\n            }\n        }\n        return pairs;\n    }\n\n    private insertEndpointSorted(endpoint: Endpoint<T>): void {\n        // Binary search for insertion position\n        let left = 0;\n        let right = this.xEndpoints.length;\n        \n        while (left < right) {\n            const mid = Math.floor((left + right) / 2);\n            const midEndpoint = this.xEndpoints[mid];\n            \n            if (midEndpoint.value < endpoint.value || \n                (midEndpoint.value === endpoint.value && midEndpoint.isMin && !endpoint.isMin)) {\n                left = mid + 1;\n            } else {\n                right = mid;\n            }\n        }\n        \n        this.xEndpoints.splice(left, 0, endpoint);\n    }\n\n    private removeEndpoint(endpoint: Endpoint<T>): void {\n        const index = this.xEndpoints.indexOf(endpoint);\n        if (index !== -1) {\n            this.xEndpoints.splice(index, 1);\n        }\n    }\n\n    private aabbIntersects(aabb1: { min: Point, max: Point }, aabb2: { min: Point, max: Point }): boolean {\n        return !(aabb1.max.x < aabb2.min.x || \n                 aabb1.min.x > aabb2.max.x || \n                 aabb1.max.y < aabb2.min.y || \n                 aabb1.min.y > aabb2.max.y);\n    }\n\n    // Enhanced visualization showing active sweep line and overlaps\n    draw?(context: CanvasRenderingContext2D): void {\n        context.strokeStyle = 'orange';\n        context.lineWidth = 1;\n        context.globalAlpha = 0.3;\n        \n        // Draw vertical lines at object boundaries\n        for (const endpoint of this.xEndpoints) {\n            context.beginPath();\n            context.moveTo(endpoint.value, -1000);\n            context.lineTo(endpoint.value, 1000);\n            context.stroke();\n            \n            // Label min/max endpoints\n            context.fillStyle = endpoint.isMin ? 'green' : 'red';\n            context.fillText(endpoint.isMin ? 'min' : 'max', endpoint.value, -950);\n        }\n        \n        context.globalAlpha = 1.0;\n    }\n\n    // Get statistics for performance monitoring\n    getStats(): { endpointCount: number, objectCount: number } {\n        return {\n            endpointCount: this.xEndpoints.length,\n            objectCount: this.objects.size\n        };\n    }\n}\n\nexport class DynamicTree<T extends SpatialIndexObject> implements SpatialIndex<T> {\n    private root: TreeNode<T> | null = null;\n    private nodeCount: number = 0;\n    private margin: number = 0.1; // Fat AABB margin\n\n    clear(): void {\n        this.root = null;\n        this.nodeCount = 0;\n    }\n\n    insert(object: T): void {\n        const node = new TreeNode(object);\n        this.insertNode(node);\n    }\n\n    private insertNode(node: TreeNode<T>): void {\n        this.nodeCount++;\n\n        if (!this.root) {\n            this.root = node;\n            return;\n        }\n\n        // Find the best sibling for the new node\n        let sibling = this.findBestSibling(node);\n        \n        // Create new parent\n        const oldParent = sibling.parent;\n        const newParent = new TreeNode<T>();\n        newParent.parent = oldParent;\n        newParent.setBranch(sibling, node);\n\n        if (oldParent) {\n            // Replace sibling with newParent in oldParent\n            if (oldParent.children[0] === sibling) {\n                oldParent.children[0] = newParent;\n            } else {\n                oldParent.children[1] = newParent;\n            }\n        } else {\n            // sibling was root\n            this.root = newParent;\n        }\n\n        // Walk back up the tree fixing heights and AABBs\n        let ancestor = newParent.parent;\n        while (ancestor) {\n            ancestor.updateAABB(this.margin);\n            ancestor.height = 1 + Math.max(\n                ancestor.children[0] ? ancestor.children[0].height : 0,\n                ancestor.children[1] ? ancestor.children[1].height : 0\n            );\n\n            // Balance the tree\n            ancestor = this.balance(ancestor);\n            ancestor = ancestor.parent;\n        }\n    }\n\n    private findBestSibling(node: TreeNode<T>): TreeNode<T> {\n        let current = this.root!;\n\n        while (!current.isLeaf()) {\n            const child1 = current.children[0]!;\n            const child2 = current.children[1]!;\n\n            const area = this.getArea(current.aabb);\n            const combinedAABB = this.combineAABB(current.aabb, node.aabb);\n            const combinedArea = this.getArea(combinedAABB);\n\n            // Cost of creating new parent for this node and current\n            const cost = 2.0 * combinedArea;\n\n            // Minimum cost of pushing node further down the tree\n            const inheritanceCost = 2.0 * (combinedArea - area);\n\n            // Cost of descending into child1\n            let cost1: number;\n            const aabb1 = this.combineAABB(node.aabb, child1.aabb);\n            if (child1.isLeaf()) {\n                cost1 = this.getArea(aabb1) + inheritanceCost;\n            } else {\n                const oldArea = this.getArea(child1.aabb);\n                const newArea = this.getArea(aabb1);\n                cost1 = (newArea - oldArea) + inheritanceCost;\n            }\n\n            // Cost of descending into child2\n            let cost2: number;\n            const aabb2 = this.combineAABB(node.aabb, child2.aabb);\n            if (child2.isLeaf()) {\n                cost2 = this.getArea(aabb2) + inheritanceCost;\n            } else {\n                const oldArea = this.getArea(child2.aabb);\n                const newArea = this.getArea(aabb2);\n                cost2 = (newArea - oldArea) + inheritanceCost;\n            }\n\n            // Descend according to the minimum cost\n            if (cost < cost1 && cost < cost2) {\n                break;\n            }\n\n            // Descend\n            current = cost1 < cost2 ? child1 : child2;\n        }\n\n        return current;\n    }\n\n    private balance(node: TreeNode<T>): TreeNode<T> {\n        if (node.isLeaf()) {\n            return node;\n        }\n\n        const balance = node.getBalance();\n\n        // Rotate if imbalanced\n        if (balance < -1) {\n            return this.rotateLeft(node);\n        } else if (balance > 1) {\n            return this.rotateRight(node);\n        }\n\n        return node;\n    }\n\n    private rotateLeft(node: TreeNode<T>): TreeNode<T> {\n        const child2 = node.children[1]!;\n        const child2Child1 = child2.children[0]!;\n        const child2Child2 = child2.children[1]!;\n\n        // Swap\n        child2.children[0] = node;\n        child2.parent = node.parent;\n        node.parent = child2;\n\n        // Update parent\n        if (child2.parent) {\n            if (child2.parent.children[0] === node) {\n                child2.parent.children[0] = child2;\n            } else {\n                child2.parent.children[1] = child2;\n            }\n        } else {\n            this.root = child2;\n        }\n\n        // Rotate\n        if (child2Child1.height > child2Child2.height) {\n            child2.children[1] = child2Child1;\n            node.children[1] = child2Child2;\n            child2Child2.parent = node;\n            node.updateAABB(this.margin);\n            child2.updateAABB(this.margin);\n            node.height = 1 + Math.max(node.children[0]!.height, node.children[1]!.height);\n            child2.height = 1 + Math.max(node.height, child2Child1.height);\n        } else {\n            child2.children[1] = child2Child2;\n            node.children[1] = child2Child1;\n            child2Child1.parent = node;\n            node.updateAABB(this.margin);\n            child2.updateAABB(this.margin);\n            node.height = 1 + Math.max(node.children[0]!.height, node.children[1]!.height);\n            child2.height = 1 + Math.max(node.height, child2Child2.height);\n        }\n\n        return child2;\n    }\n\n    private rotateRight(node: TreeNode<T>): TreeNode<T> {\n        const child1 = node.children[0]!;\n        const child1Child1 = child1.children[0]!;\n        const child1Child2 = child1.children[1]!;\n\n        // Swap\n        child1.children[1] = node;\n        child1.parent = node.parent;\n        node.parent = child1;\n\n        // Update parent\n        if (child1.parent) {\n            if (child1.parent.children[0] === node) {\n                child1.parent.children[0] = child1;\n            } else {\n                child1.parent.children[1] = child1;\n            }\n        } else {\n            this.root = child1;\n        }\n\n        // Rotate\n        if (child1Child1.height > child1Child2.height) {\n            child1.children[0] = child1Child1;\n            node.children[0] = child1Child2;\n            child1Child2.parent = node;\n            node.updateAABB(this.margin);\n            child1.updateAABB(this.margin);\n            node.height = 1 + Math.max(node.children[0]!.height, node.children[1]!.height);\n            child1.height = 1 + Math.max(child1Child1.height, node.height);\n        } else {\n            child1.children[0] = child1Child2;\n            node.children[0] = child1Child1;\n            child1Child1.parent = node;\n            node.updateAABB(this.margin);\n            child1.updateAABB(this.margin);\n            node.height = 1 + Math.max(node.children[0]!.height, node.children[1]!.height);\n            child1.height = 1 + Math.max(child1Child2.height, node.height);\n        }\n\n        return child1;\n    }\n\n    retrieve(object: T): T[] {\n        const result: T[] = [];\n        if (!this.root) return result;\n\n        const stack: TreeNode<T>[] = [this.root];\n\n        while (stack.length > 0) {\n            const node = stack.pop()!;\n\n            if (this.aabbIntersects(node.aabb, object.AABB)) {\n                if (node.isLeaf()) {\n                    if (node.object && node.object !== object) {\n                        result.push(node.object);\n                    }\n                } else {\n                    if (node.children[0]) stack.push(node.children[0]);\n                    if (node.children[1]) stack.push(node.children[1]);\n                }\n            }\n        }\n\n        return result;\n    }\n\n    draw(context: CanvasRenderingContext2D): void {\n        if (!this.root) return;\n        this.drawNode(context, this.root, 0);\n    }\n\n    private drawNode(context: CanvasRenderingContext2D, node: TreeNode<T>, depth: number): void {\n        const { min, max } = node.aabb;\n        \n        // Different colors for different depths\n        const colors = ['red', 'blue', 'green', 'orange', 'purple', 'brown'];\n        context.strokeStyle = colors[depth % colors.length];\n        context.lineWidth = Math.max(1, 3 - depth);\n\n        context.beginPath();\n        context.rect(min.x, min.y, max.x - min.x, max.y - min.y);\n        context.stroke();\n\n        if (!node.isLeaf()) {\n            if (node.children[0]) this.drawNode(context, node.children[0], depth + 1);\n            if (node.children[1]) this.drawNode(context, node.children[1], depth + 1);\n        }\n    }\n\n    private getArea(aabb: AABB): number {\n        return (aabb.max.x - aabb.min.x) * (aabb.max.y - aabb.min.y);\n    }\n\n    private combineAABB(aabb1: AABB, aabb2: AABB): AABB {\n        return {\n            min: {\n                x: Math.min(aabb1.min.x, aabb2.min.x),\n                y: Math.min(aabb1.min.y, aabb2.min.y)\n            },\n            max: {\n                x: Math.max(aabb1.max.x, aabb2.max.x),\n                y: Math.max(aabb1.max.y, aabb2.max.y)\n            }\n        };\n    }\n\n    private aabbIntersects(aabb1: AABB, aabb2: AABB): boolean {\n        return !(aabb1.max.x < aabb2.min.x || \n                 aabb1.min.x > aabb2.max.x || \n                 aabb1.max.y < aabb2.min.y || \n                 aabb1.min.y > aabb2.max.y);\n    }\n\n    // Getter for tree statistics\n    getStats(): { nodeCount: number, height: number } {\n        return {\n            nodeCount: this.nodeCount,\n            height: this.root ? this.root.height : 0\n        };\n    }\n}",
+    "import { PointCal, Point } from \"@ue-too/math\";\nimport { CollisionFilter, DEFAULT_COLLISION_FILTER } from \"./collision-filter\";\n\n/**\n * Rigid body interface for 2D physics simulation.\n *\n * @remarks\n * Represents a physical object in the physics world with mass, velocity,\n * rotation, and collision properties. Can be either static (immovable) or\n * dynamic (responds to forces).\n *\n * Implemented by {@link Circle} and {@link Polygon} classes.\n *\n * @category Core\n */\nexport interface RigidBody {\n    /** Center position in world coordinates */\n    center: Point;\n    /** Rotation angle in radians */\n    orientationAngle: number;\n    /** Linear velocity (pixels/second) */\n    linearVelocity: Point;\n    /** Angular velocity (radians/second) */\n    angularVelocity: number;\n    /** Axis-Aligned Bounding Box for broad phase collision */\n    AABB: {min: Point, max: Point};\n    /** Mass in arbitrary units (affects force response) */\n    mass: number;\n    /** Static friction coefficient (0-1) */\n    staticFrictionCoeff: number;\n    /** Moment of inertia (rotational mass) */\n    momentOfInertia: number;\n\n    /** Collision filtering configuration */\n    collisionFilter: CollisionFilter;\n    \n    // Sleeping system\n    isSleeping: boolean;\n    sleepThreshold: number;\n    sleepTime: number;\n    timeAtRest: number;\n    \n    step(deltaTime: number): void;\n    isStatic(): boolean;\n    isMovingStatic(): boolean;\n    getMinMaxProjection(unitvector: Point): {min: number, max: number};\n    getCollisionAxes(relativeBody: RigidBody): Point[];\n    applyForce(force: Point): void;\n    applyForceInOrientation(force: Point): void;\n    // applyForceAtPoint(force: Point, point: Point): void;\n    move(delta: Point): void;\n    significantVertex(collisionNormal: Point): Point;\n    getSignificantVertices(collisionNormal: Point): Point[];\n    getNormalOfSignificantFace(collisionNormal: Point): Point;\n    getAdjacentFaces(collisionNormal: Point): {startPoint: {coord: Point, index: number}, endPoint: {coord: Point, index: number}}[];\n    \n    // Sleeping methods\n    setSleeping(sleeping: boolean): void;\n    updateSleeping(deltaTime: number): void;\n}\n\nexport interface VisualComponent{\n    draw(ctx: CanvasRenderingContext2D): void;\n}\n\nexport abstract class BaseRigidBody implements RigidBody{\n    \n    protected _center: Point;\n    protected _mass: number = 50;\n    protected _linearVelocity: Point;\n    protected _angularVelocity: number; // in radians\n    protected _orientationAngle: number = 0;\n    protected linearAcceleartion: Point;\n    protected force: Point;\n    protected isStaticBody: boolean = false;\n    protected _staticFrictionCoeff: number = 0.3;\n    protected dynamicFrictionCoeff: number = 0.3;\n    protected frictionEnabled: boolean = false;\n    protected isMovingStaticBody: boolean = false;\n    protected angularDampingFactor: number = 0.005;\n    \n    // Collision filtering\n    public collisionFilter: CollisionFilter = { ...DEFAULT_COLLISION_FILTER };\n    \n    // Sleeping system\n    public isSleeping: boolean = false;\n    public sleepThreshold: number = 0.01; // Velocity threshold to consider sleeping\n    public sleepTime: number = 0.5; // Time (seconds) to wait before sleeping\n    public timeAtRest: number = 0;\n    \n\n    constructor(center: Point, _orientationAngle: number = 0, mass: number = 50, isStaticBody: boolean = false, frictionEnabled: boolean = false){\n        this._center = center;\n        this._orientationAngle = _orientationAngle;\n        this._mass = mass;\n        this.isStaticBody = isStaticBody;\n        this.frictionEnabled = frictionEnabled;\n        this.force = {x: 0, y: 0};\n        this.linearAcceleartion = {x: 0, y: 0};\n        this._linearVelocity = {x: 0, y: 0};\n        this._angularVelocity = 0;\n    }\n\n    move(delta: Point): void {\n        if (!this.isStatic()){\n            this._center = PointCal.addVector(this._center, delta);\n        }\n    }\n\n    rotateRadians(angle: number): void {\n        this._orientationAngle += angle;\n    }\n\n    getCenter(): Point {\n        return this._center;\n    }\n\n    getOrientationAngle(): number{\n        return this._orientationAngle;\n    }\n\n    get angularVelocity(): number{\n        return this._angularVelocity;\n    }\n\n    set angularVelocity(angularVelocity: number){\n        this._angularVelocity = angularVelocity;\n    }\n\n    get orientationAngle(): number{\n        return this._orientationAngle;\n    }\n\n    isStatic(): boolean{\n        return this.isStaticBody;\n    }\n\n    isMovingStatic(): boolean {\n        return this.isMovingStaticBody;\n    }\n\n    setLinearVelocity(linearVelocity: Point): void {\n        this._linearVelocity = linearVelocity;\n    }\n\n    setMovingStatic(movingStatic: boolean):void {\n        this.isMovingStaticBody = movingStatic;\n    }\n\n    setOrientationAngle(angle: number): void{\n        this._orientationAngle = angle;\n    }\n\n    applyForce(force: Point): void {\n        if (PointCal.magnitude(this.force) !== 0){\n            this.force = PointCal.addVector(this.force, force);\n        } else {\n            this.force = force;\n        }\n    }\n\n    applyForceInOrientation(force: Point | number): void {\n        let forceTransformed: Point;\n        if (typeof force === \"number\") {\n            forceTransformed = PointCal.rotatePoint({x: force, y: 0}, this._orientationAngle);\n        } else {\n            forceTransformed = PointCal.rotatePoint(force, this._orientationAngle);\n        }\n        this.applyForce(forceTransformed);\n    }\n\n    step(deltaTime: number): void {\n        if (this.frictionEnabled) {\n            if (this.isStatic()  || \n                (this.linearVelocity.x == 0 && \n                 this.linearVelocity.y == 0 && \n                 PointCal.magnitude(PointCal.subVector({x: this.force.x, y: this.force.y}, {x: 0, y: 0})) >= 0 && \n                 PointCal.magnitude({x: this.force.x, y: this.force.y}) < this.staticFrictionCoeff * this.mass * 9.81)\n                ) {\n                if (this.force.z != undefined) {\n                    this.force = {x: 0, y: 0, z: this.force.z};\n                } else {\n                    this.force = {x: 0, y: 0};\n                }\n                // return;\n            } else {\n                let kineticFrictionDirection = PointCal.multiplyVectorByScalar(PointCal.unitVector({x: this._linearVelocity.x, y: this._linearVelocity.y}), -1);\n                let kineticFriction = PointCal.multiplyVectorByScalar(kineticFrictionDirection, this.dynamicFrictionCoeff * this.mass * 9.81);\n                this.force = PointCal.addVector(this.force, kineticFriction);\n            }\n        }\n        const angularDamping = this._angularVelocity != 0 ? this._angularVelocity > 0 ? -this.angularDampingFactor : this.angularDampingFactor : 0;\n        // console.log(\"angular velocity\", this._angularVelocity);\n        // console.log(\"angular damping\", angularDamping);\n        if (Math.abs(this._angularVelocity) < Math.abs(angularDamping)) {\n            this._angularVelocity = 0;\n        } else {\n            this._angularVelocity += angularDamping;\n        }\n        this._orientationAngle += this._angularVelocity * deltaTime;\n        if (PointCal.magnitude({x: this._linearVelocity.x, y: this._linearVelocity.y}) < PointCal.magnitude(PointCal.divideVectorByScalar(PointCal.multiplyVectorByScalar(this.force, deltaTime), this.mass))){\n            if (this._linearVelocity.z != undefined) {\n                this._linearVelocity = {x: 0, y: 0, z: this._linearVelocity.z};\n            } else {\n                this._linearVelocity = {x: 0, y: 0};\n            }\n        }\n        const gravitationalForce = -9.81 * this._mass;\n        this.force = PointCal.addVector(this.force, {x: 0, y: 0, z: gravitationalForce});\n        const deltaLinearVelocity = PointCal.divideVectorByScalar(PointCal.multiplyVectorByScalar(this.force, deltaTime), this.mass);\n        this._linearVelocity = PointCal.addVector(this._linearVelocity, deltaLinearVelocity);\n        const deltaCenter = PointCal.multiplyVectorByScalar(this._linearVelocity, deltaTime);\n        // console.log('delta center', deltaCenter);\n        this._center = PointCal.addVector(this._center, deltaCenter);\n        if (this._center.z != undefined && this._center.z < 0) {\n            this._center.z = 0;\n        }\n        this.force = {x: 0, y: 0};\n    }\n\n    get center(): Point {\n        return this._center;\n    }\n\n    set center(dest: Point){\n        this._center = dest;\n    }\n\n    get linearVelocity(): Point {\n        return this._linearVelocity;\n    }\n\n    set linearVelocity(dest: Point){\n        this._linearVelocity = dest;\n    }\n\n    get mass(): number{\n        return this._mass;\n    }\n\n    get staticFrictionCoeff(): number{\n        return this._staticFrictionCoeff;\n    }\n\n    set staticFrictionCoeff(coeff: number){\n        this._staticFrictionCoeff = coeff;\n    }\n\n    abstract get momentOfInertia(): number;\n    abstract getMinMaxProjection(unitvector: Point): {min: number, max: number};\n    abstract getCollisionAxes(relativeBody: RigidBody): Point[];\n    abstract get AABB(): {min: Point, max: Point};\n    abstract significantVertex(collisionNormal: Point): Point;\n    abstract getSignificantVertices(collisionNormal: Point): Point[];\n    abstract getNormalOfSignificantFace(collisionNormal: Point): Point;\n    abstract getAdjacentFaces(collisionNormal: Point): {startPoint: {coord: Point, index: number}, endPoint: {coord: Point, index: number}}[];\n\n    // Sleeping methods\n    setSleeping(sleeping: boolean): void {\n        if (sleeping && !this.isSleeping) {\n            this.isSleeping = true;\n            this._linearVelocity = { x: 0, y: 0 };\n            this._angularVelocity = 0;\n        } else if (!sleeping && this.isSleeping) {\n            this.isSleeping = false;\n            this.timeAtRest = 0;\n        }\n    }\n\n    updateSleeping(deltaTime: number): void {\n        if (this.isStatic() || this.isMovingStatic()) return;\n\n        const speed = PointCal.magnitude(this._linearVelocity);\n        const angularSpeed = Math.abs(this._angularVelocity);\n\n        if (speed < this.sleepThreshold && angularSpeed < this.sleepThreshold) {\n            this.timeAtRest += deltaTime;\n            if (this.timeAtRest >= this.sleepTime) {\n                this.setSleeping(true);\n            }\n        } else {\n            this.timeAtRest = 0;\n            if (this.isSleeping) {\n                this.setSleeping(false);\n            }\n        }\n    }\n}\n\nexport class VisaulCircleBody implements VisualComponent, RigidBody {\n\n    private _circle: Circle;\n    private _context: CanvasRenderingContext2D;\n    \n    // Collision filtering\n    public collisionFilter: CollisionFilter = { ...DEFAULT_COLLISION_FILTER };\n    \n    // Sleeping system\n    public isSleeping: boolean = false;\n    public sleepThreshold: number = 0.01;\n    public sleepTime: number = 0.5;\n    public timeAtRest: number = 0;\n\n    constructor(center: Point = {x: 0, y: 0}, radius: number, drawingContext: CanvasRenderingContext2D, _orientationAngle: number = 0, mass: number = 50, isStatic: boolean = false, frictionEnabled: boolean = true) {\n        this._circle = new Circle(center, radius, _orientationAngle, mass, isStatic, frictionEnabled);\n        this._context = drawingContext;\n    }\n\n    draw(ctx: CanvasRenderingContext2D): void {\n        ctx.beginPath();\n        ctx.arc(this._circle.center.x, this._circle.center.y, this._circle.radius, 0, 2 * Math.PI);\n        ctx.stroke();\n    }\n\n    step(deltaTime: number): void {\n        this._circle.step(deltaTime);\n        this.draw(this._context);\n    }\n\n    isStatic(): boolean {\n        return this._circle.isStatic();\n    }\n\n    isMovingStatic(): boolean {\n        return this._circle.isMovingStatic();\n    }\n\n    getMinMaxProjection(unitvector: Point): { min: number; max: number; } {\n        return this._circle.getMinMaxProjection(unitvector);\n    }\n\n    getCollisionAxes(relativeBody: RigidBody): Point[] {\n        return this._circle.getCollisionAxes(relativeBody);\n    }\n\n    applyForce(force: Point): void {\n        this._circle.applyForce(force);\n    }\n\n    get AABB(): { min: Point; max: Point; } {\n        return this._circle.AABB;\n    }\n\n    getMass(): number {\n        return this._circle.mass;\n    }\n\n    applyForceInOrientation(force: Point): void {\n        this._circle.applyForceInOrientation(force);\n    }\n\n    move(delta: Point): void {\n        this._circle.move(delta);\n    }\n\n    getSignificantVertices(collisionNormal: Point): Point[] {\n        return this._circle.getSignificantVertices(collisionNormal);\n    }\n\n    get center(): Point {\n        return this._circle.center;\n    }\n\n    set center(dest: Point){\n        this._circle.center = dest;\n    }\n\n    get linearVelocity(): Point {\n        return this._circle.linearVelocity;\n    }\n\n    set linearVelocity(dest: Point){\n        this._circle.linearVelocity = dest;\n    }\n\n    get orientationAngle(){\n        return this._circle.orientationAngle;\n    }\n\n    significantVertex(collisionNormal: Point): Point {\n        return this._circle.significantVertex(collisionNormal);\n    }\n\n    set angularVelocity(angularVelocity: number){\n        this._circle.angularVelocity = angularVelocity;\n    }\n\n    get angularVelocity(): number{\n        return this._circle.angularVelocity;\n    }\n\n    get mass(): number{\n        return this._circle.mass;\n    }\n\n    getNormalOfSignificantFace(collisionNormal: Point): Point {\n        return this._circle.getNormalOfSignificantFace(collisionNormal);\n    }\n\n    get staticFrictionCoeff(): number{\n        return this._circle.staticFrictionCoeff;\n    }\n\n    set staticFrictionCoeff(coeff: number){\n        this._circle.staticFrictionCoeff = coeff;\n    }\n\n    getAdjacentFaces(collisionNormal: Point): {startPoint: {coord: Point, index: number}, endPoint: {coord: Point, index: number}}[] {\n        return this._circle.getAdjacentFaces(collisionNormal);\n    }\n\n    get momentOfInertia(): number {\n        return this._circle.momentOfInertia;\n    }\n\n    // Sleeping methods\n    setSleeping(sleeping: boolean): void {\n        if (sleeping && !this.isSleeping) {\n            this.isSleeping = true;\n            this._circle.linearVelocity = { x: 0, y: 0 };\n            this._circle.angularVelocity = 0;\n        } else if (!sleeping && this.isSleeping) {\n            this.isSleeping = false;\n            this.timeAtRest = 0;\n        }\n    }\n\n    updateSleeping(deltaTime: number): void {\n        if (this._circle.isStatic() || this._circle.isMovingStatic()) return;\n\n        const speed = PointCal.magnitude(this._circle.linearVelocity);\n        const angularSpeed = Math.abs(this._circle.angularVelocity);\n\n        if (speed < this.sleepThreshold && angularSpeed < this.sleepThreshold) {\n            this.timeAtRest += deltaTime;\n            if (this.timeAtRest >= this.sleepTime) {\n                this.setSleeping(true);\n            }\n        } else {\n            this.timeAtRest = 0;\n            if (this.isSleeping) {\n                this.setSleeping(false);\n            }\n        }\n    }\n\n}\n\nexport class VisualPolygonBody implements VisualComponent, RigidBody {\n    \n    private _polygon: Polygon;\n    private _context: CanvasRenderingContext2D;\n    \n    // Collision filtering\n    public collisionFilter: CollisionFilter = { ...DEFAULT_COLLISION_FILTER };\n    \n    // Sleeping system\n    public isSleeping: boolean = false;\n    public sleepThreshold: number = 0.01;\n    public sleepTime: number = 0.5;\n    public timeAtRest: number = 0;\n\n    constructor(center: Point = {x: 0, y: 0}, vertices: Point[], drawingContext: CanvasRenderingContext2D, _orientationAngle: number = 0, mass: number = 50, isStatic: boolean = false, frictionEnabled: boolean = true) {\n        this._polygon = new Polygon(center, vertices, _orientationAngle, mass, isStatic, frictionEnabled);\n        this._context = drawingContext;\n    }\n\n    draw(ctx: CanvasRenderingContext2D): void {\n        ctx.beginPath();\n        let vertices = this._polygon.getVerticesAbsCoord();\n        ctx.moveTo(vertices[0].x, vertices[0].y);\n        vertices.forEach(vertex => {\n            ctx.lineTo(vertex.x, vertex.y);\n        });\n        ctx.lineTo(vertices[0].x, vertices[0].y);\n        ctx.stroke();\n        // ctx.beginPath();\n        // ctx.rect(this._polygon.AABB.min.x, this._polygon.AABB.min.y, this._polygon.AABB.max.x - this._polygon.AABB.min.x, this._polygon.AABB.max.y - this._polygon.AABB.min.y);\n        // ctx.stroke();\n    }\n\n    step(deltaTime: number): void {\n        this._polygon.step(deltaTime);\n        this.draw(this._context);\n    }\n\n    isStatic(): boolean {\n        return this._polygon.isStatic();\n    }\n\n    isMovingStatic(): boolean {\n        return this._polygon.isMovingStatic();\n    }\n\n    getMinMaxProjection(unitvector: Point): { min: number; max: number; } {\n        return this._polygon.getMinMaxProjection(unitvector);\n    }\n\n    getCollisionAxes(relativeBody: RigidBody): Point[] {\n        return this._polygon.getCollisionAxes(relativeBody);\n    }\n\n    applyForce(force: Point): void {\n        this._polygon.applyForce(force);\n    }\n\n    applyForceInOrientation(force: Point): void {\n        this._polygon.applyForceInOrientation(force);\n    }\n\n    setLinearVelocity(linearVelocity: Point): void {\n        this._polygon.setLinearVelocity(linearVelocity);\n    }\n\n    move(delta: Point): void {\n        this._polygon.move(delta);\n    }\n\n    get center(): Point {\n        return this._polygon.center;\n    }\n\n    set center(dest: Point){\n        this._polygon.center = dest;\n    }\n\n    get linearVelocity(): Point {\n        return this._polygon.linearVelocity;\n    }\n\n    set linearVelocity(dest: Point){\n        this._polygon.linearVelocity = dest;\n    }\n\n    get angularVelocity(): number{\n        return this._polygon.angularVelocity;\n    }\n\n    set angularVelocity(angularVelocity: number){\n        this._polygon.angularVelocity = angularVelocity;\n    }\n\n    get orientationAngle(): number{\n        return this._polygon.orientationAngle;\n    }\n\n    significantVertex(collisionNormal: Point): Point {\n        return this._polygon.significantVertex(collisionNormal);\n    }\n\n    getSignificantVertices(collisionNormal: Point): Point[] {\n        return this._polygon.getSignificantVertices(collisionNormal);\n    }\n\n    get AABB(): {min: Point, max: Point}{\n        return this._polygon.AABB;\n    }\n\n    get mass(): number{\n        return this._polygon.mass;\n    }\n    \n    get staticFrictionCoeff(): number{\n        return this._polygon.staticFrictionCoeff;\n    }\n\n    set staticFrictionCoeff(coeff: number){\n        this._polygon.staticFrictionCoeff = coeff;\n    }\n\n    get momentOfInertia(): number {\n        return this._polygon.momentOfInertia;\n    }\n\n    getNormalOfSignificantFace(collisionNormal: Point): Point {\n        return this._polygon.getNormalOfSignificantFace(collisionNormal);\n    }\n\n    getAdjacentFaces(collisionNormal: Point): {startPoint: {coord: Point, index: number}, endPoint: {coord: Point, index: number}}[] {\n        return this._polygon.getAdjacentFaces(collisionNormal);\n    }\n\n    // Sleeping methods\n    setSleeping(sleeping: boolean): void {\n        if (sleeping && !this.isSleeping) {\n            this.isSleeping = true;\n            this._polygon.linearVelocity = { x: 0, y: 0 };\n            this._polygon.angularVelocity = 0;\n        } else if (!sleeping && this.isSleeping) {\n            this.isSleeping = false;\n            this.timeAtRest = 0;\n        }\n    }\n\n    updateSleeping(deltaTime: number): void {\n        if (this._polygon.isStatic() || this._polygon.isMovingStatic()) return;\n\n        const speed = PointCal.magnitude(this._polygon.linearVelocity);\n        const angularSpeed = Math.abs(this._polygon.angularVelocity);\n\n        if (speed < this.sleepThreshold && angularSpeed < this.sleepThreshold) {\n            this.timeAtRest += deltaTime;\n            if (this.timeAtRest >= this.sleepTime) {\n                this.setSleeping(true);\n            }\n        } else {\n            this.timeAtRest = 0;\n            if (this.isSleeping) {\n                this.setSleeping(false);\n            }\n        }\n    }\n}\n\nexport class Polygon extends BaseRigidBody {\n\n    private vertices: Point[];\n    private _momentOfInertia: number;\n\n    constructor(center: Point = {x: 0, y: 0}, vertices: Point[], _orientationAngle: number = 0, mass: number = 50, isStatic: boolean = false, frictionEnabled: boolean = true) {\n        super(center, _orientationAngle, mass, isStatic, frictionEnabled);\n        this.vertices = vertices;\n        this.step = this.step.bind(this);\n\n        let numerator = this.vertices.reduce((acc, vertex, index) => {\n            let nextPointIndex = index < this.vertices.length - 1 ? index + 1 : 0;\n            let nextPoint = this.vertices[nextPointIndex];\n            let crossProduct = PointCal.crossProduct(nextPoint, vertex);\n            return acc + PointCal.magnitude(crossProduct) * (PointCal.dotProduct(vertex, vertex) + PointCal.dotProduct(vertex, nextPoint) + PointCal.dotProduct(nextPoint, nextPoint));\n        }, 0);\n\n        let denomiator = this.vertices.reduce((acc, vertex, index) => {\n            return acc + PointCal.magnitude(PointCal.crossProduct(this.vertices[index < this.vertices.length - 1 ? index + 1 : 0], vertex));\n        }, 0);\n\n        \n        this._momentOfInertia = this._mass * numerator / (6 * denomiator);\n    }\n\n\n    getVerticesAbsCoord(): Point[]{\n        return this.vertices.map(vertex=>{\n            return PointCal.addVector(this._center, PointCal.rotatePoint(vertex, this._orientationAngle));\n        });\n    }\n\n    getCollisionAxes(relativeBody: RigidBody): Point[] {\n        return this.getVerticesAbsCoord().map((vertex, index, absVertices)=>{\n            let vector = PointCal.subVector(vertex, absVertices[absVertices.length - 1]);\n            if (index > 0){\n                vector = PointCal.subVector(vertex, absVertices[index - 1]); \n            }\n            return PointCal.unitVector(PointCal.rotatePoint(vector, Math.PI / 2));\n        });\n    }\n\n    getMinMaxProjection(unitvector: Point): { min: number; max: number; } {\n        let vertices = this.getVerticesAbsCoord();\n        \n        let projections = vertices.map( vertex => {\n            return PointCal.dotProduct(vertex, unitvector);\n        });\n\n        \n        return {min: Math.min(...projections), max: Math.max(...projections)};\n    }\n\n    get AABB(): { min: Point; max: Point; } {\n        let points = this.getVerticesAbsCoord();\n        let xCoords = points.map(vertex => vertex.x);\n        let yCoords = points.map(vertex => vertex.y);\n        return {min: {x: Math.min(...xCoords), y: Math.min(...yCoords)}, max: {x: Math.max(...xCoords), y: Math.max(...yCoords)}};\n    }\n\n    significantVertex(collisionNormal: Point): Point {\n        let vertices = this.getVerticesAbsCoord();\n        let verticesProjected = vertices.map(vertex => PointCal.dotProduct(vertex, collisionNormal));\n        let maxIndex = verticesProjected.indexOf(Math.max(...verticesProjected));\n        return vertices[maxIndex];\n    }\n\n    getSignificantVertices(collisionNormal: Point): Point[]{\n        let vertices = this.getVerticesAbsCoord();\n        let verticesProjected = vertices.map(vertex => PointCal.dotProduct(vertex, collisionNormal));\n        let maxIndex = verticesProjected.indexOf(Math.max(...verticesProjected));\n        const tipVertex = vertices[maxIndex];\n        let prevPointIndex = maxIndex > 0 ? maxIndex - 1 : vertices.length - 1;\n        let nextPointIndex = maxIndex < vertices.length - 1 ? maxIndex + 1 : 0;\n        const prevPoint = vertices[prevPointIndex];\n        const nextPoint = vertices[nextPointIndex];\n        const prevPointProjected = PointCal.dotProduct(prevPoint, collisionNormal);\n        const nextPointProjected = PointCal.dotProduct(nextPoint, collisionNormal);\n        if (prevPointProjected > nextPointProjected) {\n            return [prevPoint, tipVertex];\n        } else {\n            return [tipVertex, nextPoint];\n        }\n    }\n\n    getNormalOfSignificantFace(collisionNormal: Point): Point{\n        const vertices = this.getSignificantVertices(collisionNormal);\n        const direction = PointCal.unitVectorFromA2B(vertices[0], vertices[1]);\n        return PointCal.rotatePoint(direction, -Math.PI / 2);\n    }\n\n    getAdjacentFaces(collisionNormal: Point): {startPoint: {coord: Point, index: number}, endPoint: {coord: Point, index: number}}[]{\n        let vertices = this.getVerticesAbsCoord();\n        let verticesProjected = vertices.map(vertex => PointCal.dotProduct(vertex, collisionNormal));\n        let maxIndex = verticesProjected.indexOf(Math.max(...verticesProjected));\n        const tipVertex = vertices[maxIndex];\n        let prevPointIndex = maxIndex > 0 ? maxIndex - 1 : vertices.length - 1;\n        let nextPointIndex = maxIndex < vertices.length - 1 ? maxIndex + 1 : 0;\n        const prevPoint = vertices[prevPointIndex];\n        const nextPoint = vertices[nextPointIndex];\n        const prevPointProjected = PointCal.dotProduct(prevPoint, collisionNormal);\n        const nextPointProjected = PointCal.dotProduct(nextPoint, collisionNormal);\n        const adjacentFaces: Point[] = [];\n        const adjacentFacesWithIndex: {startPoint: {coord: Point, index: number}, endPoint: {coord: Point, index: number}}[] = [];\n        if (prevPointProjected > nextPointProjected) {\n            adjacentFaces.push(prevPoint, tipVertex);\n            adjacentFacesWithIndex.push({startPoint: {coord: prevPoint, index: prevPointIndex}, endPoint: {coord: tipVertex, index: maxIndex}});\n\n            // the nextface is the next face\n            adjacentFacesWithIndex.unshift({startPoint: {coord: tipVertex, index: maxIndex}, endPoint: {coord: nextPoint, index: nextPointIndex}});\n            // need to get the previous face of the previous face\n            let prevPrevPointIndex = prevPointIndex > 0 ? prevPointIndex - 1 : vertices.length - 1;\n            adjacentFacesWithIndex.unshift({startPoint: {coord: vertices[prevPrevPointIndex], index: prevPrevPointIndex}, endPoint: {coord: prevPoint, index: prevPointIndex}});\n        } else {\n            adjacentFaces.push(tipVertex, nextPoint);\n            adjacentFacesWithIndex.push({startPoint: {coord: tipVertex, index: maxIndex}, endPoint: {coord: nextPoint, index: nextPointIndex}});\n\n            // need to get the next face of the next face\n            let nextNextPointIndex = nextPointIndex < vertices.length - 1 ? nextPointIndex + 1 : 0;\n            adjacentFacesWithIndex.unshift({startPoint: {coord: nextPoint, index: nextPointIndex}, endPoint: {coord: vertices[nextNextPointIndex], index: nextNextPointIndex}})\n\n            // the prevoius face is the previous face\n            adjacentFacesWithIndex.unshift({startPoint: {coord: prevPoint, index: prevPointIndex}, endPoint: {coord: tipVertex, index: maxIndex}});\n        }\n        \n        return adjacentFacesWithIndex;\n    }\n\n    get momentOfInertia(): number {\n        return this._momentOfInertia;\n    }\n\n}\n\nexport class Circle extends BaseRigidBody {\n\n    private _radius: number;\n    private _momentOfInertia: number;\n\n    constructor(center: Point = {x: 0, y: 0}, radius: number, _orientationAngle: number = 0, mass: number = 50, isStatic: boolean = false, frictionEnabled: boolean = true) {\n        super(center, _orientationAngle, mass, isStatic, frictionEnabled);\n        this._radius = radius;\n        this.step = this.step.bind(this);\n        this._momentOfInertia = this._mass * this._radius * this._radius / 2;\n    }\n\n    getMinMaxProjection(unitvector: Point): { min: number; max: number; } {\n        let PositiveFurthest = PointCal.addVector(this._center, PointCal.multiplyVectorByScalar(unitvector, this._radius));\n        let NegativeFurthest = PointCal.addVector(this._center, PointCal.multiplyVectorByScalar(unitvector, -this._radius));\n        return {min: PointCal.dotProduct(NegativeFurthest, unitvector), max: PointCal.dotProduct(PositiveFurthest, unitvector)};\n    }\n\n    getCollisionAxes(relativeBody: RigidBody): Point[] {\n        return [PointCal.unitVector(PointCal.subVector(relativeBody.center, this._center))];\n    }\n\n    get AABB(): { min: Point; max: Point; } {\n        return {min: PointCal.subVector(this._center, {x: this._radius, y: this._radius}), max: PointCal.addVector(this._center, {x: this._radius, y: this._radius})};\n    }\n\n    significantVertex(collisionNormal: Point): Point {\n        return PointCal.addVector(this._center, PointCal.multiplyVectorByScalar(collisionNormal, this._radius));\n    }\n\n    get radius(): number {\n        return this._radius;\n    }\n\n    getSignificantVertices(collisionNormal: Point): Point[]{\n        return [PointCal.addVector(this._center, PointCal.multiplyVectorByScalar(collisionNormal, this._radius))];\n    }\n\n    getNormalOfSignificantFace(collisionNormal: Point): Point{\n        return PointCal.unitVector(collisionNormal);\n    }\n\n    getAdjacentFaces(collisionNormal: Point): {startPoint: {coord: Point, index: number}, endPoint: {coord: Point, index: number}}[]{\n        return [];\n    }\n\n    get momentOfInertia(): number {\n        return this._momentOfInertia;\n    }\n}\n",
+    "/**\n * Collision filtering configuration for rigid bodies.\n *\n * @remarks\n * Collision filters use a bitmask system to control which bodies can collide\n * with each other. This is useful for creating layers, groups, and special\n * collision rules in your physics simulation.\n *\n * ### How Filtering Works\n *\n * Two bodies A and B can collide if ALL of these conditions are met:\n * 1. `(A.category & B.mask) !== 0` - A's category matches B's mask\n * 2. `(B.category & A.mask) !== 0` - B's category matches A's mask\n * 3. Group rules are satisfied (see group field)\n *\n * @category Types\n */\nexport interface CollisionFilter {\n    /**\n     * What category this body belongs to (bitmask).\n     *\n     * @example\n     * ```typescript\n     * category: CollisionCategory.PLAYER  // 0x0004\n     * ```\n     */\n    category: number;\n\n    /**\n     * What categories this body can collide with (bitmask).\n     *\n     * @example\n     * ```typescript\n     * // Collide with everything except other players\n     * mask: ~CollisionCategory.PLAYER & 0xFFFF\n     * ```\n     */\n    mask: number;\n\n    /**\n     * Collision group for special rules.\n     * - 0: No group (use category/mask rules)\n     * - Positive: Bodies in same group ALWAYS collide\n     * - Negative: Bodies in same group NEVER collide\n     *\n     * @example\n     * ```typescript\n     * // Ragdoll parts shouldn't collide with each other\n     * group: -1\n     *\n     * // Team members always collide (for physics interactions)\n     * group: 1\n     * ```\n     */\n    group: number;\n}\n\n/**\n * Default collision filter that collides with everything.\n *\n * @remarks\n * Uses category 0x0001 and mask 0xFFFF, meaning it belongs to the first\n * category and can collide with all 16 categories.\n *\n * @category Collision\n */\nexport const DEFAULT_COLLISION_FILTER: CollisionFilter = {\n    category: 0x0001,\n    mask: 0xFFFF,\n    group: 0\n};\n\n/**\n * Determines if two bodies can collide based on their collision filters.\n *\n * @remarks\n * Checks group rules first, then falls back to category/mask matching.\n * This is used internally by the physics engine during broad phase collision detection.\n *\n * @param filterA - Collision filter of first body\n * @param filterB - Collision filter of second body\n * @returns True if the bodies should collide\n *\n * @example\n * ```typescript\n * const player: CollisionFilter = {\n *   category: CollisionCategory.PLAYER,\n *   mask: 0xFFFF,\n *   group: 0\n * };\n *\n * const enemy: CollisionFilter = {\n *   category: CollisionCategory.ENEMY,\n *   mask: CollisionCategory.PLAYER | CollisionCategory.STATIC,\n *   group: 0\n * };\n *\n * console.log(canCollide(player, enemy)); // true\n * ```\n *\n * @category Collision\n */\nexport function canCollide(filterA: CollisionFilter, filterB: CollisionFilter): boolean {\n    // If objects are in the same group\n    if (filterA.group !== 0 && filterA.group === filterB.group) {\n        return filterA.group > 0; // Positive groups collide, negative groups don't\n    }\n\n    // Check category-mask pairs\n    return (filterA.category & filterB.mask) !== 0 && (filterB.category & filterA.mask) !== 0;\n}\n\n/**\n * Predefined collision categories for common game entities.\n *\n * @remarks\n * These are bitmask constants (powers of 2) that can be combined using bitwise OR.\n * You can define up to 16 categories using values from 0x0001 to 0x8000.\n *\n * @example\n * Using predefined categories\n * ```typescript\n * // Player collides with everything except other players\n * player.collisionFilter = {\n *   category: CollisionCategory.PLAYER,\n *   mask: ~CollisionCategory.PLAYER & 0xFFFF,\n *   group: 0\n * };\n *\n * // Projectile only collides with enemies and static objects\n * projectile.collisionFilter = {\n *   category: CollisionCategory.PROJECTILE,\n *   mask: CollisionCategory.ENEMY | CollisionCategory.STATIC,\n *   group: 0\n * };\n * ```\n *\n * @category Collision\n */\nexport const CollisionCategory = {\n    STATIC: 0x0001,      // Walls, floors, static objects\n    DYNAMIC: 0x0002,     // Moving objects  \n    PLAYER: 0x0004,      // Player character\n    ENEMY: 0x0008,       // Enemy entities\n    PROJECTILE: 0x0010,  // Bullets, projectiles\n    SENSOR: 0x0020,      // Trigger zones, sensors\n    PICKUP: 0x0040,      // Items that can be collected\n    PLATFORM: 0x0080,    // One-way platforms\n} as const;",
+    "import { Point } from \"@ue-too/math\";\nimport { RigidBody } from \"./rigidbody\";\nimport { SpatialIndex, SpatialIndexObject } from \"./dynamic-tree\";\n\nexport class RectangleBound{\n    private bottomLeft: Point;\n    private width: number;\n    private height: number;\n\n    constructor(bottomLeft: Point, width: number, height: number){\n        this.bottomLeft = bottomLeft;\n        this.width = width;\n        this.height = height;\n    }\n\n    getWidth(){\n        return this.width;\n    }\n\n    getHeight(){\n        return this.height;\n    }\n\n    getbottomLeft(){\n        return this.bottomLeft;\n    }\n}\n\nexport type QuadTreeObject = SpatialIndexObject;\n\n/**\n * QuadTree spatial indexing structure for efficient collision detection.\n * @category Spatial Indexing\n */\nexport class QuadTree<T extends QuadTreeObject> implements SpatialIndex<T> {\n    private MAX_OBJECTS = 10; // per node\n    private MAX_LEVELS = 5;\n\n    private level: number;\n    private objects: T[] = [];\n    private nodes: (QuadTree<T> | undefined)[] = [];\n    private bounds: RectangleBound;\n    \n\n    constructor(level: number, bounds: RectangleBound){\n        this.level = level;\n        this.objects = [];\n        this.bounds = bounds;\n        this.nodes = [undefined, undefined, undefined, undefined];\n    }\n\n    draw(context: CanvasRenderingContext2D){\n        context.beginPath();\n        context.rect(this.bounds.getbottomLeft().x, this.bounds.getbottomLeft().y, this.bounds.getWidth(), this.bounds.getHeight());\n        context.stroke();\n        // console.log(\"objects: \", this.objects.length, \"level: \", this.level);\n        for(let index = 0; index < this.nodes.length; index++){\n            let node = this.nodes[index];\n            if(node != undefined){\n                node.draw(context);\n            }\n        }\n    }\n\n    clear(){\n        this.objects = [];\n        for(let index = 0; index < this.nodes.length; index++){\n            let node = this.nodes[index];\n            if(node != undefined){\n                node.clear();\n                node = undefined;\n            }\n        }\n    }\n\n    split(){\n        // console.log(\"split\");\n        let subWidth = this.bounds.getWidth() / 2;\n        let subHeight = this.bounds.getHeight() / 2;\n        let bottomLeft = this.bounds.getbottomLeft();\n        // bottom left is the first node and it goes clock wise \n        this.nodes[0] = new QuadTree<T>(this.level + 1, new RectangleBound({x: bottomLeft.x, y: bottomLeft.y}, subWidth, subHeight));\n        this.nodes[1] = new QuadTree<T>(this.level + 1, new RectangleBound({x: bottomLeft.x, y: bottomLeft.y + subHeight}, subWidth, subHeight));\n        this.nodes[2] = new QuadTree<T>(this.level + 1, new RectangleBound({x: bottomLeft.x + subWidth, y: bottomLeft.y + subHeight}, subWidth, subHeight));\n        this.nodes[3] = new QuadTree<T>(this.level + 1, new RectangleBound({x: bottomLeft.x + subWidth, y: bottomLeft.y}, subWidth, subHeight));\n    }\n\n    getIndex(vBody: T){\n        let midPoint = {x: this.bounds.getbottomLeft().x + this.bounds.getWidth() / 2, y: this.bounds.getbottomLeft().y + this.bounds.getHeight() / 2};\n        let points = vBody.AABB;\n        let bottom = points.max.y < midPoint.y && points.min.y > this.bounds.getbottomLeft().y;\n        let left = points.max.x < midPoint.x && points.min.x > this.bounds.getbottomLeft().x;\n        let right = points.max.x > midPoint.x && points.min.x > midPoint.x;\n        let top = points.max.y > midPoint.y && points.min.y > midPoint.y;\n        // console.log(\"level\", this.level);\n        if (bottom && left){\n            return 0;\n        } else if (bottom && right){\n            return 3;\n        } else if (top && left){\n            return 1;\n        } else if (top && right){\n            return 2;\n        }\n        return -1;\n    }\n\n    insert(vBody: T){\n        let node = this.nodes[0];\n        if (node != undefined){\n            let index = this.getIndex(vBody);\n\n            if (index !== -1){\n                node = this.nodes[index];\n                node?.insert(vBody);\n                return;\n            }\n        }\n\n        this.objects.push(vBody);\n        if(this.objects.length > this.MAX_OBJECTS && this.level < this.MAX_LEVELS){\n            if (this.nodes[0] == null || this.nodes[0] == undefined){\n                this.split();\n            }\n            let i = 0;\n            while (i < this.objects.length){\n                let index = this.getIndex(this.objects[i]);\n                let node = this.nodes[index];\n                if (index != -1 && node !== undefined){\n                    let vBody = this.objects[i];\n                    this.objects.splice(i, 1);\n                    node.insert(vBody);\n                } else{\n                    i++;\n                }\n            }\n        }\n    }\n\n    retrieve(vBody: T): T[]{\n        let index = this.getIndex(vBody);\n        let res = [];\n        let node = this.nodes[index];\n        if(index !== -1 && node !== undefined){\n            res.push(...node.retrieve(vBody));\n        }\n        res.push(...this.objects);\n        return res;\n    }\n\n}",
+    "import { Point } from \"@ue-too/math\";\n\n/**\n * Object that can be indexed spatially via AABB.\n * @category Types\n */\nexport interface SpatialIndexObject {\n    AABB: { min: Point, max: Point };\n}\n\n/**\n * Interface for spatial indexing data structures.\n * @category Types\n */\nexport interface SpatialIndex<T extends SpatialIndexObject> {\n    clear(): void;\n    insert(object: T): void;\n    retrieve(object: T): T[];\n    draw?(context: CanvasRenderingContext2D): void;\n}\n\ninterface AABB {\n    min: Point;\n    max: Point;\n}\n\nclass TreeNode<T extends SpatialIndexObject> {\n    public parent: TreeNode<T> | null = null;\n    public children: [TreeNode<T> | null, TreeNode<T> | null] = [null, null];\n    public aabb: AABB = { min: { x: 0, y: 0 }, max: { x: 0, y: 0 } };\n    public object: T | null = null;\n    public height: number = 0;\n\n    constructor(object?: T) {\n        if (object) {\n            this.setLeaf(object);\n        }\n    }\n\n    isLeaf(): boolean {\n        return this.children[0] === null;\n    }\n\n    setLeaf(object: T): void {\n        this.object = object;\n        this.updateAABB();\n        this.children = [null, null];\n        this.height = 0;\n    }\n\n    setBranch(child1: TreeNode<T>, child2: TreeNode<T>): void {\n        child1.parent = this;\n        child2.parent = this;\n        this.children = [child1, child2];\n        this.object = null;\n        this.updateAABB();\n        this.height = 1 + Math.max(child1.height, child2.height);\n    }\n\n    updateAABB(margin: number = 0.1): void {\n        if (this.isLeaf() && this.object) {\n            // Create \"fat\" AABB with margin for dynamic objects\n            const obj = this.object.AABB;\n            this.aabb = {\n                min: { x: obj.min.x - margin, y: obj.min.y - margin },\n                max: { x: obj.max.x + margin, y: obj.max.y + margin }\n            };\n        } else if (this.children[0] && this.children[1]) {\n            // Union of children AABBs\n            const aabb1 = this.children[0].aabb;\n            const aabb2 = this.children[1].aabb;\n            this.aabb = {\n                min: {\n                    x: Math.min(aabb1.min.x, aabb2.min.x),\n                    y: Math.min(aabb1.min.y, aabb2.min.y)\n                },\n                max: {\n                    x: Math.max(aabb1.max.x, aabb2.max.x),\n                    y: Math.max(aabb1.max.y, aabb2.max.y)\n                }\n            };\n        }\n    }\n\n    getSibling(): TreeNode<T> | null {\n        if (!this.parent) return null;\n        return this.parent.children[0] === this ? this.parent.children[1] : this.parent.children[0];\n    }\n\n    getBalance(): number {\n        if (this.isLeaf()) return 0;\n        const leftHeight = this.children[0] ? this.children[0].height : 0;\n        const rightHeight = this.children[1] ? this.children[1].height : 0;\n        return leftHeight - rightHeight;\n    }\n}\n\n// Endpoint for Sweep and Prune algorithm\ninterface Endpoint<T> {\n    value: number;\n    isMin: boolean;\n    object: T;\n    id: number;\n}\n\n/**\n * Sweep and Prune (SAP) spatial indexing algorithm.\n * @category Spatial Indexing\n */\nexport class SweepAndPrune<T extends SpatialIndexObject> implements SpatialIndex<T> {\n    private xEndpoints: Endpoint<T>[] = [];\n    private objects: Map<T, { minEndpoint: Endpoint<T>, maxEndpoint: Endpoint<T> }> = new Map();\n    private nextId: number = 0;\n\n    clear(): void {\n        this.xEndpoints = [];\n        this.objects.clear();\n        this.nextId = 0;\n    }\n\n    insert(object: T): void {\n        const id = this.nextId++;\n        \n        const minEndpoint: Endpoint<T> = { value: object.AABB.min.x, isMin: true, object, id };\n        const maxEndpoint: Endpoint<T> = { value: object.AABB.max.x, isMin: false, object, id };\n        \n        this.objects.set(object, { minEndpoint, maxEndpoint });\n\n        // Use binary search + splice for O(n) insertion instead of O(n log n) sort\n        this.insertEndpointSorted(minEndpoint);\n        this.insertEndpointSorted(maxEndpoint);\n    }\n\n    update(object: T): void {\n        const endpoints = this.objects.get(object);\n        if (!endpoints) return;\n\n        const newMinX = object.AABB.min.x;\n        const newMaxX = object.AABB.max.x;\n\n        // Update endpoint values and maintain sorted order\n        if (endpoints.minEndpoint.value !== newMinX) {\n            this.removeEndpoint(endpoints.minEndpoint);\n            endpoints.minEndpoint.value = newMinX;\n            this.insertEndpointSorted(endpoints.minEndpoint);\n        }\n\n        if (endpoints.maxEndpoint.value !== newMaxX) {\n            this.removeEndpoint(endpoints.maxEndpoint);\n            endpoints.maxEndpoint.value = newMaxX;\n            this.insertEndpointSorted(endpoints.maxEndpoint);\n        }\n    }\n\n    remove(object: T): void {\n        const endpoints = this.objects.get(object);\n        if (!endpoints) return;\n\n        this.removeEndpoint(endpoints.minEndpoint);\n        this.removeEndpoint(endpoints.maxEndpoint);\n        this.objects.delete(object);\n    }\n\n    retrieve(queryObject: T): T[] {\n        const result: T[] = [];\n        const queryMin = queryObject.AABB.min.x;\n        const queryMax = queryObject.AABB.max.x;\n\n        // Find all objects that overlap on x-axis using sweep line\n        for (const endpoint of this.xEndpoints) {\n            if (endpoint.value > queryMax) break;\n            \n            if (endpoint.isMin && endpoint.object !== queryObject) {\n                // Object starts - check if it overlaps with query on x-axis\n                const objMax = this.objects.get(endpoint.object)?.maxEndpoint.value;\n                if (objMax !== undefined && objMax >= queryMin) {\n                    // Check y-axis overlap\n                    if (this.aabbIntersects(endpoint.object.AABB, queryObject.AABB)) {\n                        result.push(endpoint.object);\n                    }\n                }\n            }\n        }\n\n        return result;\n    }\n\n    // Efficient method to find all collision pairs - the main strength of sweep-and-prune\n    findAllOverlaps(): Array<{a: T, b: T}> {\n        const pairs: Array<{a: T, b: T}> = [];\n        const activeObjects = new Set<T>();\n        \n        for (const endpoint of this.xEndpoints) {\n            if (endpoint.isMin) {\n                // Check against all currently active objects\n                for (const activeObj of activeObjects) {\n                    if (this.aabbIntersects(endpoint.object.AABB, activeObj.AABB)) {\n                        pairs.push({a: endpoint.object, b: activeObj});\n                    }\n                }\n                activeObjects.add(endpoint.object);\n            } else {\n                activeObjects.delete(endpoint.object);\n            }\n        }\n        return pairs;\n    }\n\n    private insertEndpointSorted(endpoint: Endpoint<T>): void {\n        // Binary search for insertion position\n        let left = 0;\n        let right = this.xEndpoints.length;\n        \n        while (left < right) {\n            const mid = Math.floor((left + right) / 2);\n            const midEndpoint = this.xEndpoints[mid];\n            \n            if (midEndpoint.value < endpoint.value || \n                (midEndpoint.value === endpoint.value && midEndpoint.isMin && !endpoint.isMin)) {\n                left = mid + 1;\n            } else {\n                right = mid;\n            }\n        }\n        \n        this.xEndpoints.splice(left, 0, endpoint);\n    }\n\n    private removeEndpoint(endpoint: Endpoint<T>): void {\n        const index = this.xEndpoints.indexOf(endpoint);\n        if (index !== -1) {\n            this.xEndpoints.splice(index, 1);\n        }\n    }\n\n    private aabbIntersects(aabb1: { min: Point, max: Point }, aabb2: { min: Point, max: Point }): boolean {\n        return !(aabb1.max.x < aabb2.min.x || \n                 aabb1.min.x > aabb2.max.x || \n                 aabb1.max.y < aabb2.min.y || \n                 aabb1.min.y > aabb2.max.y);\n    }\n\n    // Enhanced visualization showing active sweep line and overlaps\n    draw?(context: CanvasRenderingContext2D): void {\n        context.strokeStyle = 'orange';\n        context.lineWidth = 1;\n        context.globalAlpha = 0.3;\n        \n        // Draw vertical lines at object boundaries\n        for (const endpoint of this.xEndpoints) {\n            context.beginPath();\n            context.moveTo(endpoint.value, -1000);\n            context.lineTo(endpoint.value, 1000);\n            context.stroke();\n            \n            // Label min/max endpoints\n            context.fillStyle = endpoint.isMin ? 'green' : 'red';\n            context.fillText(endpoint.isMin ? 'min' : 'max', endpoint.value, -950);\n        }\n        \n        context.globalAlpha = 1.0;\n    }\n\n    // Get statistics for performance monitoring\n    getStats(): { endpointCount: number, objectCount: number } {\n        return {\n            endpointCount: this.xEndpoints.length,\n            objectCount: this.objects.size\n        };\n    }\n}\n\n/**\n * Dynamic AABB tree for efficient spatial queries.\n * @category Spatial Indexing\n */\nexport class DynamicTree<T extends SpatialIndexObject> implements SpatialIndex<T> {\n    private root: TreeNode<T> | null = null;\n    private nodeCount: number = 0;\n    private margin: number = 0.1; // Fat AABB margin\n\n    clear(): void {\n        this.root = null;\n        this.nodeCount = 0;\n    }\n\n    insert(object: T): void {\n        const node = new TreeNode(object);\n        this.insertNode(node);\n    }\n\n    private insertNode(node: TreeNode<T>): void {\n        this.nodeCount++;\n\n        if (!this.root) {\n            this.root = node;\n            return;\n        }\n\n        // Find the best sibling for the new node\n        let sibling = this.findBestSibling(node);\n        \n        // Create new parent\n        const oldParent = sibling.parent;\n        const newParent = new TreeNode<T>();\n        newParent.parent = oldParent;\n        newParent.setBranch(sibling, node);\n\n        if (oldParent) {\n            // Replace sibling with newParent in oldParent\n            if (oldParent.children[0] === sibling) {\n                oldParent.children[0] = newParent;\n            } else {\n                oldParent.children[1] = newParent;\n            }\n        } else {\n            // sibling was root\n            this.root = newParent;\n        }\n\n        // Walk back up the tree fixing heights and AABBs\n        let ancestor = newParent.parent;\n        while (ancestor) {\n            ancestor.updateAABB(this.margin);\n            ancestor.height = 1 + Math.max(\n                ancestor.children[0] ? ancestor.children[0].height : 0,\n                ancestor.children[1] ? ancestor.children[1].height : 0\n            );\n\n            // Balance the tree\n            ancestor = this.balance(ancestor);\n            ancestor = ancestor.parent;\n        }\n    }\n\n    private findBestSibling(node: TreeNode<T>): TreeNode<T> {\n        let current = this.root!;\n\n        while (!current.isLeaf()) {\n            const child1 = current.children[0]!;\n            const child2 = current.children[1]!;\n\n            const area = this.getArea(current.aabb);\n            const combinedAABB = this.combineAABB(current.aabb, node.aabb);\n            const combinedArea = this.getArea(combinedAABB);\n\n            // Cost of creating new parent for this node and current\n            const cost = 2.0 * combinedArea;\n\n            // Minimum cost of pushing node further down the tree\n            const inheritanceCost = 2.0 * (combinedArea - area);\n\n            // Cost of descending into child1\n            let cost1: number;\n            const aabb1 = this.combineAABB(node.aabb, child1.aabb);\n            if (child1.isLeaf()) {\n                cost1 = this.getArea(aabb1) + inheritanceCost;\n            } else {\n                const oldArea = this.getArea(child1.aabb);\n                const newArea = this.getArea(aabb1);\n                cost1 = (newArea - oldArea) + inheritanceCost;\n            }\n\n            // Cost of descending into child2\n            let cost2: number;\n            const aabb2 = this.combineAABB(node.aabb, child2.aabb);\n            if (child2.isLeaf()) {\n                cost2 = this.getArea(aabb2) + inheritanceCost;\n            } else {\n                const oldArea = this.getArea(child2.aabb);\n                const newArea = this.getArea(aabb2);\n                cost2 = (newArea - oldArea) + inheritanceCost;\n            }\n\n            // Descend according to the minimum cost\n            if (cost < cost1 && cost < cost2) {\n                break;\n            }\n\n            // Descend\n            current = cost1 < cost2 ? child1 : child2;\n        }\n\n        return current;\n    }\n\n    private balance(node: TreeNode<T>): TreeNode<T> {\n        if (node.isLeaf()) {\n            return node;\n        }\n\n        const balance = node.getBalance();\n\n        // Rotate if imbalanced\n        if (balance < -1) {\n            return this.rotateLeft(node);\n        } else if (balance > 1) {\n            return this.rotateRight(node);\n        }\n\n        return node;\n    }\n\n    private rotateLeft(node: TreeNode<T>): TreeNode<T> {\n        const child2 = node.children[1]!;\n        const child2Child1 = child2.children[0]!;\n        const child2Child2 = child2.children[1]!;\n\n        // Swap\n        child2.children[0] = node;\n        child2.parent = node.parent;\n        node.parent = child2;\n\n        // Update parent\n        if (child2.parent) {\n            if (child2.parent.children[0] === node) {\n                child2.parent.children[0] = child2;\n            } else {\n                child2.parent.children[1] = child2;\n            }\n        } else {\n            this.root = child2;\n        }\n\n        // Rotate\n        if (child2Child1.height > child2Child2.height) {\n            child2.children[1] = child2Child1;\n            node.children[1] = child2Child2;\n            child2Child2.parent = node;\n            node.updateAABB(this.margin);\n            child2.updateAABB(this.margin);\n            node.height = 1 + Math.max(node.children[0]!.height, node.children[1]!.height);\n            child2.height = 1 + Math.max(node.height, child2Child1.height);\n        } else {\n            child2.children[1] = child2Child2;\n            node.children[1] = child2Child1;\n            child2Child1.parent = node;\n            node.updateAABB(this.margin);\n            child2.updateAABB(this.margin);\n            node.height = 1 + Math.max(node.children[0]!.height, node.children[1]!.height);\n            child2.height = 1 + Math.max(node.height, child2Child2.height);\n        }\n\n        return child2;\n    }\n\n    private rotateRight(node: TreeNode<T>): TreeNode<T> {\n        const child1 = node.children[0]!;\n        const child1Child1 = child1.children[0]!;\n        const child1Child2 = child1.children[1]!;\n\n        // Swap\n        child1.children[1] = node;\n        child1.parent = node.parent;\n        node.parent = child1;\n\n        // Update parent\n        if (child1.parent) {\n            if (child1.parent.children[0] === node) {\n                child1.parent.children[0] = child1;\n            } else {\n                child1.parent.children[1] = child1;\n            }\n        } else {\n            this.root = child1;\n        }\n\n        // Rotate\n        if (child1Child1.height > child1Child2.height) {\n            child1.children[0] = child1Child1;\n            node.children[0] = child1Child2;\n            child1Child2.parent = node;\n            node.updateAABB(this.margin);\n            child1.updateAABB(this.margin);\n            node.height = 1 + Math.max(node.children[0]!.height, node.children[1]!.height);\n            child1.height = 1 + Math.max(child1Child1.height, node.height);\n        } else {\n            child1.children[0] = child1Child2;\n            node.children[0] = child1Child1;\n            child1Child1.parent = node;\n            node.updateAABB(this.margin);\n            child1.updateAABB(this.margin);\n            node.height = 1 + Math.max(node.children[0]!.height, node.children[1]!.height);\n            child1.height = 1 + Math.max(child1Child2.height, node.height);\n        }\n\n        return child1;\n    }\n\n    retrieve(object: T): T[] {\n        const result: T[] = [];\n        if (!this.root) return result;\n\n        const stack: TreeNode<T>[] = [this.root];\n\n        while (stack.length > 0) {\n            const node = stack.pop()!;\n\n            if (this.aabbIntersects(node.aabb, object.AABB)) {\n                if (node.isLeaf()) {\n                    if (node.object && node.object !== object) {\n                        result.push(node.object);\n                    }\n                } else {\n                    if (node.children[0]) stack.push(node.children[0]);\n                    if (node.children[1]) stack.push(node.children[1]);\n                }\n            }\n        }\n\n        return result;\n    }\n\n    draw(context: CanvasRenderingContext2D): void {\n        if (!this.root) return;\n        this.drawNode(context, this.root, 0);\n    }\n\n    private drawNode(context: CanvasRenderingContext2D, node: TreeNode<T>, depth: number): void {\n        const { min, max } = node.aabb;\n        \n        // Different colors for different depths\n        const colors = ['red', 'blue', 'green', 'orange', 'purple', 'brown'];\n        context.strokeStyle = colors[depth % colors.length];\n        context.lineWidth = Math.max(1, 3 - depth);\n\n        context.beginPath();\n        context.rect(min.x, min.y, max.x - min.x, max.y - min.y);\n        context.stroke();\n\n        if (!node.isLeaf()) {\n            if (node.children[0]) this.drawNode(context, node.children[0], depth + 1);\n            if (node.children[1]) this.drawNode(context, node.children[1], depth + 1);\n        }\n    }\n\n    private getArea(aabb: AABB): number {\n        return (aabb.max.x - aabb.min.x) * (aabb.max.y - aabb.min.y);\n    }\n\n    private combineAABB(aabb1: AABB, aabb2: AABB): AABB {\n        return {\n            min: {\n                x: Math.min(aabb1.min.x, aabb2.min.x),\n                y: Math.min(aabb1.min.y, aabb2.min.y)\n            },\n            max: {\n                x: Math.max(aabb1.max.x, aabb2.max.x),\n                y: Math.max(aabb1.max.y, aabb2.max.y)\n            }\n        };\n    }\n\n    private aabbIntersects(aabb1: AABB, aabb2: AABB): boolean {\n        return !(aabb1.max.x < aabb2.min.x || \n                 aabb1.min.x > aabb2.max.x || \n                 aabb1.max.y < aabb2.min.y || \n                 aabb1.min.y > aabb2.max.y);\n    }\n\n    // Getter for tree statistics\n    getStats(): { nodeCount: number, height: number } {\n        return {\n            nodeCount: this.nodeCount,\n            height: this.root ? this.root.height : 0\n        };\n    }\n}",
     "import { BaseRigidBody, RigidBody } from \"./rigidbody\";\nimport { PointCal, Point } from \"@ue-too/math\";\nimport { QuadTree } from \"./quadtree\";\nimport { canCollide } from \"./collision-filter\";\n\nexport function resolveCollision(bodyA: RigidBody, bodyB: RigidBody, normal: Point): void {\n    // console.log(\"resolve\");\n    if (bodyA.isStatic() && bodyB.isStatic()) {\n        return;\n    }\n    let restitution = 0.4;\n    let inverseMassA = bodyA.isStatic() || bodyA.isMovingStatic() ? 0 : 1 / bodyA.mass;\n    let inverseMassB = bodyB.isStatic() || bodyB.isMovingStatic() ? 0 : 1 / bodyB.mass;\n    // console.log(\"inverse mass a\", inverseMassA);\n    // console.log(\"inverse mass b\", inverseMassB);\n\n    let relativeVelocity = PointCal.subVector(bodyA.linearVelocity, bodyB.linearVelocity);\n    // console.log(\"relative velocity: \", relativeVelocity);\n    // console.log(\"linear velocity of a\", bodyA.getLinearVelocity());\n    // console.log(\"linear veolcity of b\", bodyB.getLinearVelocity());\n    let J = -(1 + restitution) * PointCal.dotProduct(relativeVelocity, normal);\n    J /= inverseMassA + inverseMassB;\n\n    let deltaVelocityA = PointCal.multiplyVectorByScalar(normal, J * inverseMassA);\n    let deltaVelocityB = PointCal.multiplyVectorByScalar(normal, J * inverseMassB);\n    // console.log(\"delta velocity A:\", deltaVelocityA);\n    // console.log(\"delta velocity B:\", deltaVelocityB);\n\n    bodyA.linearVelocity = PointCal.addVector(bodyA.linearVelocity, deltaVelocityA);\n    bodyB.linearVelocity = PointCal.subVector(bodyB.linearVelocity, deltaVelocityB);\n}\n\nexport function resolveCollisionWithRotation(bodyA: RigidBody, bodyB: RigidBody, contactManifold: {normal: Point, contactPoints: Point[]}){\n    // console.log(\"resolve\");\n    if (bodyA.isStatic() && bodyB.isStatic()) {\n        return;\n    }\n\n    let restitution = 0.4;\n    let inverseMassA = bodyA.isStatic() || bodyA.isMovingStatic() ? 0 : 1 / bodyA.mass;\n    let inverseMassB = bodyB.isStatic() || bodyB.isMovingStatic() ? 0 : 1 / bodyB.mass;\n\n    let inverseMMOIA = bodyA.isStatic() || bodyA.isMovingStatic() ? 0 : 1 / bodyA.momentOfInertia;\n    let inverseMMOIB = bodyB.isStatic() || bodyB.isMovingStatic() ? 0 : 1 / bodyB.momentOfInertia;\n\n    const Js: Point[] = [];\n    for(let index = 0; index < contactManifold.contactPoints.length; index++){\n        const contactPoint = contactManifold.contactPoints[index];\n        const rA = PointCal.subVector(contactPoint, bodyA.center);\n        const rB = PointCal.subVector(contactPoint, bodyB.center);\n        const rAPerpendicular = {x: -rA.y, y: rA.x};\n        const rBPerpendicular = {x: -rB.y, y: rB.x}; \n\n        const angularVelocityA = PointCal.multiplyVectorByScalar(rAPerpendicular, bodyA.angularVelocity);\n        const angularVelocityB = PointCal.multiplyVectorByScalar(rBPerpendicular, bodyB.angularVelocity);\n\n        // console.log(\"inverse mass a\", inverseMassA);\n        // console.log(\"inverse mass b\", inverseMassB);\n\n        let relativeVelocity = PointCal.subVector(PointCal.addVector(bodyA.linearVelocity, angularVelocityA), PointCal.addVector(bodyB.linearVelocity, angularVelocityB));\n        // console.log(\"relative velocity: \", relativeVelocity);\n        // console.log(\"linear velocity of a\", bodyA.getLinearVelocity());\n        // console.log(\"linear veolcity of b\", bodyB.getLinearVelocity());\n        let relativeVelocityNormal = PointCal.dotProduct(relativeVelocity, contactManifold.normal);\n        const rAPerpendicularNormal = PointCal.dotProduct(rAPerpendicular, contactManifold.normal);\n        const rBPerpendicularNormal = PointCal.dotProduct(rBPerpendicular, contactManifold.normal);\n        \n        const denominator = inverseMassA + inverseMassB + rAPerpendicularNormal * rAPerpendicularNormal * inverseMMOIA + rBPerpendicularNormal * rBPerpendicularNormal * inverseMMOIB;\n        let J = -(1 + restitution) * relativeVelocityNormal;\n        J /= denominator;\n\n        J /= contactManifold.contactPoints.length;\n\n        Js.push(PointCal.multiplyVectorByScalar(contactManifold.normal, J));\n    }\n\n    Js.forEach((impulse, index) => {\n        let deltaVelocityA = PointCal.multiplyVectorByScalar(impulse, inverseMassA);\n        let deltaVelocityB = PointCal.multiplyVectorByScalar(impulse, inverseMassB);\n\n        bodyA.linearVelocity = PointCal.addVector(bodyA.linearVelocity, deltaVelocityA);\n        let resA = PointCal.crossProduct(PointCal.subVector(contactManifold.contactPoints[index], bodyA.center), impulse).z;\n        resA = resA == undefined ? 0 : resA;\n        let resB = PointCal.crossProduct(PointCal.subVector(contactManifold.contactPoints[index], bodyB.center), impulse).z;\n        resB = resB == undefined ? 0 : resB;\n        bodyA.angularVelocity += resA * inverseMMOIA;\n        bodyB.angularVelocity -= resB * inverseMMOIB;\n        bodyB.linearVelocity = PointCal.subVector(bodyB.linearVelocity, deltaVelocityB);\n    });\n}\n\nexport function aabbIntersects(aabbA: {min: Point, max: Point}, aabbB: {min: Point, max: Point}): boolean{\n    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)) {\n        return true;\n    }\n    return false;\n}\n\nexport function intersects(bodyA: RigidBody, bodyB: RigidBody): {collision: boolean, depth?: number, normal?: Point}{\n    let axis: Point[] = [];\n    let bodyAAxes = bodyA.getCollisionAxes(bodyB);\n    let bodyBAxes = bodyB.getCollisionAxes(bodyA);\n\n    axis.push(...bodyAAxes);\n    axis.push(...bodyBAxes);\n\n    let collision = true;\n    let minDepth = Number.MAX_VALUE;\n    let minAxis = axis[0];\n\n    axis.forEach(projAxis => {\n        let bodyAInterval = bodyA.getMinMaxProjection(projAxis);\n        let bodyBInterval = bodyB.getMinMaxProjection(projAxis);\n\n        if (bodyAInterval.min >= bodyBInterval.max || bodyBInterval.min >= bodyAInterval.max) {\n            collision = false;\n        }else {\n            let depth = Math.abs(Math.min(bodyAInterval.max, bodyBInterval.max) - Math.max(bodyBInterval.min, bodyAInterval.min));\n            if (depth < minDepth) {\n                minDepth = depth;\n                minAxis = projAxis;\n                if (bodyAInterval.max < bodyBInterval.max) {\n                    minAxis = PointCal.multiplyVectorByScalar(minAxis, -1);\n                }\n            }\n        }\n    });\n\n    if (collision){\n        return {collision: collision, depth: minDepth, normal: minAxis};\n    }else {\n        return {collision: false, depth: undefined, normal: undefined};\n    }\n}\n\nexport function narrowPhaseWithRigidBody(bodies: RigidBody[], combinationsToCheck: {bodyA: RigidBody, bodyB: RigidBody}[], resolveCollisionFlag: boolean): Point[]{\n    if (!resolveCollisionFlag) {\n        return [];\n    }\n    const contactPoints: Point[] = [];\n    combinationsToCheck.forEach(combination => {\n        let bodyA = combination.bodyA;\n        let bodyB = combination.bodyB;\n        if (bodyA == bodyB) {\n            // console.log(\"same body\");\n            return;\n        }\n        let bodyAZ = bodyA.center.z == undefined ? 0 : bodyA.center.z;\n        let bodyBZ = bodyB.center.z == undefined ? 0 : bodyB.center.z;\n        if(Math.abs(bodyAZ - bodyBZ) > 0.5){\n            // console.log(\"z-index difference is too large\");\n            return;\n        }\n        let {collision, depth, normal: normalAxis} = intersects(bodyA, bodyB);\n        if (collision && normalAxis !== undefined && depth !== undefined) {\n            // the normal axis points in the direction that push bodyA away from bodyB\n            \n            let moveDisplacement = PointCal.multiplyVectorByScalar(normalAxis, depth / 2);\n            let revMoveDisplacement = PointCal.multiplyVectorByScalar(normalAxis, -depth / 2);\n\n            if (!bodyA.isStatic()) {\n                bodyA.move(moveDisplacement);\n            }\n            if (!bodyB.isStatic()) {\n                bodyB.move(revMoveDisplacement);\n            }\n            if (bodyA.isStatic()) {\n                // bodyA.move(revMoveDisplacement);\n                bodyB.move(revMoveDisplacement);\n            }\n            if (bodyB.isStatic()) {\n                bodyA.move(moveDisplacement);\n                // bodyB.move(moveDisplacement);\n            }\n\n            // finding the collision contact point(s)\n            const bodyASigNormal = bodyA.getNormalOfSignificantFace(PointCal.multiplyVectorByScalar(normalAxis, -1));\n            const bodyBSigNormal = bodyB.getNormalOfSignificantFace(normalAxis);\n            const bodyASigVertices = bodyA.getSignificantVertices(PointCal.multiplyVectorByScalar(normalAxis, -1));\n            const bodyBSigVertices = bodyB.getSignificantVertices(normalAxis);\n            const bodyAParallelIndicator = Math.abs(PointCal.dotProduct(bodyASigNormal, PointCal.multiplyVectorByScalar(normalAxis, -1)));\n            const bodyBParallelIndicator = Math.abs(PointCal.dotProduct(bodyBSigNormal, normalAxis));\n            \n            if (bodyBSigVertices.length == 1 || bodyASigVertices.length == 1){\n                // one of the body is a circle\n                // console.log(\"involving a circle\");\n                if (bodyBSigVertices.length == 1){\n                    // bodyB is a circle\n                    // contact point is on the perimeter of the circle and the direction is the collision normal\n                    contactPoints.push(bodyBSigVertices[0]);\n                } else {\n                    // bodyA is a circle\n                    // contact point is on the perimeter of the circle and the direction is the collision normal\n                    contactPoints.push(bodyASigVertices[0]);\n                }\n            }\n            else if (bodyAParallelIndicator > bodyBParallelIndicator) {\n                // bodyA has the normal that is the most parallel to the collision normal\n                const adjacentFaces = bodyA.getAdjacentFaces(PointCal.multiplyVectorByScalar(normalAxis, -1));\n                let faceToClip = [...bodyBSigVertices];\n                for(let index = 0; index < adjacentFaces.length - 1; index++){\n                    let startPoint = adjacentFaces[index].startPoint.coord;\n                    let endPoint = adjacentFaces[index].endPoint.coord;\n                    let direction = PointCal.subVector(endPoint, startPoint);\n                    let sigStart = PointCal.subVector(faceToClip[0], startPoint);\n                    let sigEnd = PointCal.subVector(faceToClip[1], startPoint);\n                    let startInside = PointCal.angleFromA2B(direction, sigStart) >= 0;\n                    let endInside = PointCal.angleFromA2B(direction, sigEnd) >= 0;\n                    if ((startInside ? 1 : 0) ^ (endInside ? 1 : 0)){\n                        // one of the point is outside the face\n                        let intersectionPoint = PointCal.getLineIntersection(startPoint, endPoint, faceToClip[0], faceToClip[1]);\n                        if (intersectionPoint.intersects && intersectionPoint.intersection !== undefined){\n                            if(startInside){\n                                faceToClip[1] = intersectionPoint.intersection;\n                            } else {\n                                faceToClip[0] = intersectionPoint.intersection;\n                            }\n                        }\n                    }\n                }\n                const referenceFace = adjacentFaces[adjacentFaces.length - 1];\n                let startPoint = referenceFace.startPoint.coord;\n                let endPoint = referenceFace.endPoint.coord;\n                let direction = PointCal.subVector(endPoint, startPoint);\n                let sigStart = PointCal.subVector(faceToClip[0], startPoint);\n                let sigEnd = PointCal.subVector(faceToClip[1], startPoint);\n                let startInside = PointCal.angleFromA2B(direction, sigStart) >= 0;\n                let endInside = PointCal.angleFromA2B(direction, sigEnd) >= 0;\n                if (startInside){\n                    contactPoints.push(faceToClip[0]);\n                }\n                if (endInside){\n                    contactPoints.push(faceToClip[1]);\n                }\n            } else {\n                // bodyB has the normal that is the most parallel to the collision normal\n                const adjacentFaces = bodyB.getAdjacentFaces(normalAxis);\n                let faceToClip = [...bodyASigVertices];\n                if(faceToClip.length == 0){\n                    console.log(\"warning\");\n                }\n                let count = 0;\n                for(let index = 0; index < adjacentFaces.length - 1; index++){\n                    let startPoint = adjacentFaces[index].startPoint.coord;\n                    let endPoint = adjacentFaces[index].endPoint.coord;\n                    let direction = PointCal.subVector(endPoint, startPoint);\n                    let sigStart = PointCal.subVector(faceToClip[0], startPoint);\n                    let sigEnd = PointCal.subVector(faceToClip[1], startPoint);\n                    let startInside = PointCal.angleFromA2B(direction, sigStart) >= 0;\n                    let endInside = PointCal.angleFromA2B(direction, sigEnd) >= 0;\n                    if ((startInside ? 1 : 0) ^ (endInside ? 1 : 0)){\n                        count += 1;\n                        // one of the point is outside the face\n                        let intersectionPoint = PointCal.getLineIntersection(startPoint, endPoint, faceToClip[0], faceToClip[1]);\n                        if (intersectionPoint.intersects && intersectionPoint.intersection !== undefined){\n                            if(startInside){\n                                faceToClip[1] = intersectionPoint.intersection;\n                            } else {\n                                faceToClip[0] = intersectionPoint.intersection;\n                            }\n                        }\n                    }\n                }\n                const referenceFace = adjacentFaces[adjacentFaces.length - 1];\n                let startPoint = referenceFace.startPoint.coord;\n                let endPoint = referenceFace.endPoint.coord;\n                let direction = PointCal.subVector(endPoint, startPoint);\n                let sigStart = PointCal.subVector(faceToClip[0], startPoint);\n                let sigEnd = PointCal.subVector(faceToClip[1], startPoint);\n                let startInside = PointCal.angleFromA2B(direction, sigStart) >= 0;\n                let endInside = PointCal.angleFromA2B(direction, sigEnd) >= 0;\n                if (startInside){\n                    contactPoints.push(faceToClip[0]);\n                }\n                if (endInside){\n                    contactPoints.push(faceToClip[1]);\n                }\n            }\n            if (resolveCollisionFlag) {\n                resolveCollisionWithRotation(bodyA, bodyB, {normal: normalAxis, contactPoints: contactPoints});\n                // resolveCollision(bodyA, bodyB, normalAxis);\n            }\n        }\n    });\n    return contactPoints;\n}\n\nexport function narrowPhase(bodies: BaseRigidBody[], combinationsToCheck: {bodyAIndex: number, bodyBIndex: number}[], resolveCollisionFlag: boolean): void {\n    if (!resolveCollisionFlag) {\n        return;\n    }\n    combinationsToCheck.forEach(combination => {\n        let bodyA = bodies[combination.bodyAIndex];\n        let bodyB = bodies[combination.bodyBIndex];\n        let {collision, depth, normal: normalAxis} = intersects(bodyA, bodyB);\n        if (collision && normalAxis !== undefined && depth !== undefined) {\n            // console.log(\"collision\");\n            let moveDisplacement = PointCal.multiplyVectorByScalar(normalAxis, depth / 2);\n            let revMoveDisplacement = PointCal.multiplyVectorByScalar(normalAxis, -depth / 2);\n\n            if (!bodyA.isStatic()) {\n                bodyA.move(moveDisplacement);\n            }\n            if (!bodyB.isStatic()) {\n                bodyB.move(revMoveDisplacement);\n            }\n            if (bodyA.isStatic()) {\n                // bodyA.move(revMoveDisplacement);\n                bodyB.move(revMoveDisplacement);\n            }\n            if (bodyB.isStatic()) {\n                bodyA.move(moveDisplacement);\n                // bodyB.move(moveDisplacement);\n            }\n\n            if (resolveCollisionFlag) {\n                resolveCollision(bodyA, bodyB, normalAxis);\n            }\n\n        }\n    })\n}\n\nexport function broadPhaseWithRigidBodyReturned(quadTree: QuadTree<RigidBody>, bodies: RigidBody[]): {bodyA: RigidBody, bodyB: RigidBody}[]{\n    let possibleCombi: {bodyA: RigidBody, bodyB: RigidBody}[] = [];\n    for(let index = 0; index <= bodies.length - 1; index++){\n        let objsToCheck = quadTree.retrieve(bodies[index]);\n        for(let jindex = 0; jindex <= objsToCheck.length - 1; jindex++){\n            let bodyA = bodies[index];\n            let bodyB = objsToCheck[jindex];\n            if (bodyA.isStatic() && bodyB.isStatic()){\n                continue;\n            }\n            if(!aabbIntersects(bodyA.AABB, bodyB.AABB)){\n                continue;\n            }\n            possibleCombi.push({bodyA: bodyA, bodyB: bodyB});\n        }\n    }\n    return possibleCombi\n}\n\nexport function broadPhaseWithSpatialIndex(spatialIndex: import(\"./dynamic-tree\").SpatialIndex<RigidBody>, bodies: RigidBody[]): {bodyA: RigidBody, bodyB: RigidBody}[]{\n    let possibleCombi: {bodyA: RigidBody, bodyB: RigidBody}[] = [];\n    for(let index = 0; index <= bodies.length - 1; index++){\n        let objsToCheck = spatialIndex.retrieve(bodies[index]);\n        for(let jindex = 0; jindex <= objsToCheck.length - 1; jindex++){\n            let bodyA = bodies[index];\n            let bodyB = objsToCheck[jindex];\n            if (bodyA.isStatic() && bodyB.isStatic()){\n                continue;\n            }\n            if(!aabbIntersects(bodyA.AABB, bodyB.AABB)){\n                continue;\n            }\n            possibleCombi.push({bodyA: bodyA, bodyB: bodyB});\n        }\n    }\n    return possibleCombi\n}\n\nexport function broadPhase(quadTree: QuadTree<RigidBody>, bodies: BaseRigidBody[]): {bodyAIndex: number, bodyBIndex: number}[]{\n    let possibleCombi: {bodyAIndex: number, bodyBIndex: number}[] = [];\n    for(let index = 0; index <= bodies.length - 1; index++){\n        let objsToCheck = quadTree.retrieve(bodies[index]);\n        for(let jindex = 0; jindex <= objsToCheck.length - 1; jindex++){\n            let bodyA = bodies[index];\n            let bodyB = objsToCheck[jindex];\n            if (bodyA.isStatic() && bodyB.isStatic()){\n                continue;\n            }\n            if(!aabbIntersects(bodyA.AABB, bodyB.AABB)){\n                continue;\n            }\n            possibleCombi.push({bodyAIndex: index, bodyBIndex: jindex});\n        }\n    }\n    return possibleCombi\n}\n\n// Enhanced broadphase with collision filtering\nexport function broadPhaseWithSpatialIndexFiltered(spatialIndex: import(\"./dynamic-tree\").SpatialIndex<RigidBody>, bodies: RigidBody[]): {bodyA: RigidBody, bodyB: RigidBody}[]{\n    let possibleCombi: {bodyA: RigidBody, bodyB: RigidBody}[] = [];\n    for(let index = 0; index <= bodies.length - 1; index++){\n        let objsToCheck = spatialIndex.retrieve(bodies[index]);\n        for(let jindex = 0; jindex <= objsToCheck.length - 1; jindex++){\n            let bodyA = bodies[index];\n            let bodyB = objsToCheck[jindex];\n            \n            // Skip if both are static\n            if (bodyA.isStatic() && bodyB.isStatic()){\n                continue;\n            }\n            \n            // Apply collision filtering\n            if (!canCollide(bodyA.collisionFilter, bodyB.collisionFilter)) {\n                continue;\n            }\n            \n            // Basic AABB check\n            if(!aabbIntersects(bodyA.AABB, bodyB.AABB)){\n                continue;\n            }\n            \n            possibleCombi.push({bodyA: bodyA, bodyB: bodyB});\n        }\n    }\n    return possibleCombi;\n}\n\n// Enhanced narrow phase that returns collision data for pair management\nexport function narrowPhaseWithRigidBodyAndPairs(bodies: RigidBody[], combinationsToCheck: {bodyA: RigidBody, bodyB: RigidBody}[], resolveCollisionFlag: boolean): {\n    contactPoints: Point[],\n    collisions: {bodyA: RigidBody, bodyB: RigidBody, contactPoints: Point[], normal?: Point, depth?: number}[]\n} {\n    const contactPoints: Point[] = [];\n    const collisions: {bodyA: RigidBody, bodyB: RigidBody, contactPoints: Point[], normal?: Point, depth?: number}[] = [];\n\n    combinationsToCheck.forEach(combination => {\n        let bodyA = combination.bodyA;\n        let bodyB = combination.bodyB;\n        \n        let {collision, depth, normal: normalAxis} = intersects(bodyA, bodyB);\n        if (collision && normalAxis !== undefined && depth !== undefined) {\n            // Calculate contact points (simplified version)\n            const collisionContactPoints: Point[] = [];\n            \n            // For now, use a simple contact point calculation\n            // This could be enhanced later with proper clipping algorithms\n            const contactCenter = {\n                x: (bodyA.center.x + bodyB.center.x) / 2,\n                y: (bodyA.center.y + bodyB.center.y) / 2\n            };\n            collisionContactPoints.push(contactCenter);\n            \n            const collisionData = {\n                bodyA,\n                bodyB,\n                contactPoints: collisionContactPoints,\n                normal: normalAxis,\n                depth: depth\n            };\n            \n            collisions.push(collisionData);\n            contactPoints.push(...collisionContactPoints);\n\n            if (resolveCollisionFlag) {\n                // Position correction\n                let moveDisplacement = PointCal.multiplyVectorByScalar(normalAxis, depth / 2);\n                let revMoveDisplacement = PointCal.multiplyVectorByScalar(normalAxis, -depth / 2);\n\n                if (!bodyA.isStatic()) {\n                    bodyA.move(moveDisplacement);\n                }\n                if (!bodyB.isStatic()) {\n                    bodyB.move(revMoveDisplacement);\n                }\n                if (bodyA.isStatic()) {\n                    bodyB.move(revMoveDisplacement);\n                }\n                if (bodyB.isStatic()) {\n                    bodyA.move(moveDisplacement);\n                }\n\n                // Resolve collision with rotation\n                resolveCollisionWithRotation(bodyA, bodyB, {normal: normalAxis, contactPoints: collisionContactPoints});\n            }\n        }\n    });\n\n    return { contactPoints, collisions };\n}\n",
-    "import { RigidBody } from \"./rigidbody\";\nimport { Point } from \"@ue-too/math\";\n\nexport interface CollisionPair {\n    bodyA: RigidBody;\n    bodyB: RigidBody;\n    id: string;\n    isActive: boolean;\n    contactPoints: Point[];\n    normal?: Point;\n    depth?: number;\n    frameCreated: number;\n    frameUpdated: number;\n}\n\nexport interface PairEvents {\n    created: CollisionPair[];\n    updated: CollisionPair[];\n    removed: CollisionPair[];\n}\n\nexport class PairManager {\n    private pairs = new Map<string, CollisionPair>();\n    private frameNumber = 0;\n    private maxPairAge = 10; // Remove inactive pairs after N frames\n\n    constructor() {}\n\n    // Generate unique ID for a pair\n    private getPairId(bodyA: RigidBody, bodyB: RigidBody): string {\n        const idA = this.getBodyId(bodyA);\n        const idB = this.getBodyId(bodyB);\n        // Ensure consistent ordering\n        return idA < idB ? `${idA}:${idB}` : `${idB}:${idA}`;\n    }\n\n    private getBodyId(body: RigidBody): string {\n        // Use object reference as unique ID\n        return body.toString();\n    }\n\n    // Update pairs for current frame\n    updatePairs(newCollisions: {bodyA: RigidBody, bodyB: RigidBody, contactPoints?: Point[], normal?: Point, depth?: number}[]): PairEvents {\n        this.frameNumber++;\n        \n        const events: PairEvents = {\n            created: [],\n            updated: [],\n            removed: []\n        };\n\n        // Mark all existing pairs as inactive for this frame\n        this.pairs.forEach(pair => {\n            pair.isActive = false;\n        });\n\n        // Process new collisions\n        for (const collision of newCollisions) {\n            const id = this.getPairId(collision.bodyA, collision.bodyB);\n            const existingPair = this.pairs.get(id);\n\n            if (existingPair) {\n                // Update existing pair\n                existingPair.isActive = true;\n                existingPair.frameUpdated = this.frameNumber;\n                existingPair.contactPoints = collision.contactPoints || [];\n                existingPair.normal = collision.normal;\n                existingPair.depth = collision.depth;\n                events.updated.push(existingPair);\n            } else {\n                // Create new pair\n                const newPair: CollisionPair = {\n                    bodyA: collision.bodyA,\n                    bodyB: collision.bodyB,\n                    id,\n                    isActive: true,\n                    contactPoints: collision.contactPoints || [],\n                    normal: collision.normal,\n                    depth: collision.depth,\n                    frameCreated: this.frameNumber,\n                    frameUpdated: this.frameNumber\n                };\n                this.pairs.set(id, newPair);\n                events.created.push(newPair);\n            }\n        }\n\n        // Remove old inactive pairs\n        const pairsToRemove: string[] = [];\n        this.pairs.forEach((pair, id) => {\n            if (!pair.isActive && (this.frameNumber - pair.frameUpdated) > this.maxPairAge) {\n                pairsToRemove.push(id);\n                events.removed.push(pair);\n            }\n        });\n\n        pairsToRemove.forEach(id => {\n            this.pairs.delete(id);\n        });\n\n        return events;\n    }\n\n    // Get all active pairs\n    getActivePairs(): CollisionPair[] {\n        return Array.from(this.pairs.values()).filter(pair => pair.isActive);\n    }\n\n    // Get pair by bodies\n    getPair(bodyA: RigidBody, bodyB: RigidBody): CollisionPair | undefined {\n        const id = this.getPairId(bodyA, bodyB);\n        return this.pairs.get(id);\n    }\n\n    // Clear all pairs\n    clear(): void {\n        this.pairs.clear();\n        this.frameNumber = 0;\n    }\n\n    // Get statistics\n    getStats() {\n        return {\n            totalPairs: this.pairs.size,\n            activePairs: this.getActivePairs().length,\n            frameNumber: this.frameNumber\n        };\n    }\n}",
-    "import { RigidBody } from \"./rigidbody\";\nimport * as Collision from \"./collision\";\nimport { RectangleBound, QuadTree} from \"./quadtree\"\nimport { DynamicTree, SpatialIndex, SweepAndPrune } from \"./dynamic-tree\";\nimport { Point } from \"@ue-too/math\";\nimport { Constraint } from \"./constraint\";\nimport { PinJointConstraint } from \"./constraint\";\nimport { PairManager, PairEvents } from \"./pair-manager\";\nimport { canCollide } from \"./collision-filter\";\n\nexport type SpatialIndexType = 'quadtree' | 'dynamictree' | 'sap';\n\nexport class World {\n    private rigidBodyList: RigidBody[];\n    private rigidBodyMap: Map<string, RigidBody>;\n    private _resolveCollision: boolean;\n    private maxTransWidth: number;\n    private maxTransHeight: number;\n    private bound: RectangleBound;\n    private spatialIndex: SpatialIndex<RigidBody>;\n    private spatialIndexType: SpatialIndexType;\n    private constraints: Constraint[];\n    private pinJoints: PinJointConstraint[] = [];\n    private pairManager: PairManager;\n    private enableSleeping: boolean = true;\n    _context: CanvasRenderingContext2D | null = null;\n\n    constructor(maxTransWidth: number, maxTransHeight: number, spatialIndexType: SpatialIndexType = 'dynamictree'){\n        this.maxTransHeight = maxTransHeight;\n        this.maxTransWidth = maxTransWidth;\n        this.spatialIndexType = spatialIndexType;\n        this.bound = new RectangleBound({x: -this.maxTransWidth, y: -this.maxTransHeight}, 2 * this.maxTransWidth, 2 * this.maxTransHeight);\n        \n        // Initialize spatial index based on type\n        if (spatialIndexType === 'dynamictree') {\n            this.spatialIndex = new DynamicTree<RigidBody>();\n        } else if (spatialIndexType === 'sap') {\n            this.spatialIndex = new SweepAndPrune<RigidBody>();\n        } else {\n            this.spatialIndex = new QuadTree(0, this.bound);\n        }\n        \n        this.rigidBodyList = [];\n        this.rigidBodyMap = new Map<string, RigidBody>();\n        this._resolveCollision = true;\n        this.constraints = [];\n        this.pairManager = new PairManager();\n    }\n\n    addRigidBody(ident: string, body: RigidBody): void{\n        this.rigidBodyList.push(body);\n        this.rigidBodyMap.set(ident, body);\n        \n        // Add to spatial index immediately for sweep-and-prune\n        if (this.spatialIndexType === 'sap') {\n            this.spatialIndex.insert(body);\n        }\n    }\n\n    removeRigidBody(ident: string): void{\n        if (this.rigidBodyMap.has(ident)) {\n            const body = this.rigidBodyMap.get(ident);\n            this.rigidBodyMap.delete(ident);\n            \n            // Remove from spatial index for sweep-and-prune\n            if (body && this.spatialIndexType === 'sap' && this.spatialIndex instanceof SweepAndPrune) {\n                (this.spatialIndex as SweepAndPrune<RigidBody>).remove(body);\n            }\n            \n            // Remove from rigidBodyList as well\n            const index = this.rigidBodyList.findIndex(b => b === body);\n            if (index !== -1) {\n                this.rigidBodyList.splice(index, 1);\n            }\n        }\n    }\n\n    step(deltaTime: number): void{\n        // Update sleeping states first\n        if (this.enableSleeping) {\n            this.getRigidBodyList().forEach(rigidBody => {\n                rigidBody.updateSleeping(deltaTime);\n            });\n        }\n\n        if(this._resolveCollision){\n            const contactPoints = this.resolveCollisionPhase();\n        }\n        // if(this._context != null){\n        //     this.spatialIndex.draw?.(this._context);\n        //     contactPoints.forEach((contactPoint) => {\n        //         if(this._context != null){\n        //             this._context.lineWidth = 1;\n        //             this._context.strokeStyle = \"red\";\n        //         }\n        //         this._context?.beginPath();\n        //         this._context?.arc(contactPoint.x, contactPoint.y, 3, 0, 2 * Math.PI);\n        //         this._context?.stroke();\n        //     });\n        // }\n        this.constraints.forEach(constraint => constraint.enforce(deltaTime));\n        this.getRigidBodyList().forEach(rigidBody => {\n            if (!rigidBody.isSleeping) {\n                rigidBody.step(deltaTime);\n            }\n        });\n    }\n\n    resolveCollisionPhase(): Point[]{\n        let rigidBodyList: RigidBody[] = [];\n        \n        // Use incremental updates for sweep-and-prune, full rebuild for others\n        if (this.spatialIndexType === 'sap') {\n            // For sweep-and-prune: use incremental updates for better performance\n            this.rigidBodyMap.forEach((body) => {\n                if (!this.enableSleeping || !body.isSleeping) {\n                    rigidBodyList.push(body);\n                    // Update existing objects in spatial index\n                    if (this.spatialIndex instanceof SweepAndPrune) {\n                        (this.spatialIndex as SweepAndPrune<RigidBody>).update(body);\n                    }\n                }\n            });\n        } else {\n            // For QuadTree and DynamicTree: rebuild each frame (existing behavior)\n            this.spatialIndex.clear();\n            this.rigidBodyMap.forEach((body) => {\n                if (!this.enableSleeping || !body.isSleeping) {\n                    rigidBodyList.push(body);\n                    this.spatialIndex.insert(body);\n                }\n            });\n        }\n        \n        // console.log(\"spatial index size: \", this.spatialIndex);\n        let possibleCombinations = Collision.broadPhaseWithSpatialIndexFiltered(this.spatialIndex, rigidBodyList);\n        let collisionResults = Collision.narrowPhaseWithRigidBodyAndPairs(rigidBodyList, possibleCombinations, this._resolveCollision);\n        \n        // Update pair manager with new collisions\n        const pairEvents = this.pairManager.updatePairs(collisionResults.collisions);\n        \n        // Wake up bodies that start colliding\n        if (this.enableSleeping) {\n            pairEvents.created.forEach(pair => {\n                if (pair.bodyA.isSleeping) pair.bodyA.setSleeping(false);\n                if (pair.bodyB.isSleeping) pair.bodyB.setSleeping(false);\n            });\n        }\n        \n        return collisionResults.contactPoints;\n    }\n\n    get resolveCollision(): boolean{\n        return this._resolveCollision;\n    }\n\n    set resolveCollision(resolveCollision: boolean){\n        this._resolveCollision = resolveCollision;\n    }\n\n    getRigidBodyList(){\n        let rigidBodyList:RigidBody[] = [];\n        this.rigidBodyMap.forEach((body) => {\n            rigidBodyList.push(body);\n        })\n        return rigidBodyList;\n    }\n\n    getRigidBodyMap(): Map<string, RigidBody>{\n        return this.rigidBodyMap;\n    }\n\n    setMaxTransHeight(height: number){\n        this.maxTransHeight = height;\n    }\n\n    setMaxTransWidth(width: number){\n        this.maxTransWidth = width;\n    }\n\n    addConstraint(constraint: Constraint): void{\n        this.constraints.push(constraint);\n    }\n\n    getConstraints(): Constraint[]{\n        return this.constraints;\n    }\n\n    addPinJoint(bodyA: RigidBody, bodyB: RigidBody, anchorA: Point, anchorB: Point) {\n        this.pinJoints.push({ bodyA, bodyB, anchorA, anchorB });\n    }\n\n    get currentSpatialIndexType(): SpatialIndexType {\n        return this.spatialIndexType;\n    }\n\n    setSpatialIndexType(type: SpatialIndexType): void {\n        if (type === this.spatialIndexType) return;\n        \n        this.spatialIndexType = type;\n        if (type === 'dynamictree') {\n            this.spatialIndex = new DynamicTree<RigidBody>();\n        } else if (type === 'sap') {\n            this.spatialIndex = new SweepAndPrune<RigidBody>();\n        } else {\n            this.spatialIndex = new QuadTree(0, this.bound);\n        }\n    }\n\n    getSpatialIndexStats(): any {\n        if (this.spatialIndex instanceof DynamicTree) {\n            return (this.spatialIndex as DynamicTree<RigidBody>).getStats();\n        } else if (this.spatialIndex instanceof SweepAndPrune) {\n            return {\n                type: this.spatialIndexType,\n                ...(this.spatialIndex as SweepAndPrune<RigidBody>).getStats()\n            };\n        }\n        return { type: this.spatialIndexType, objects: this.rigidBodyMap.size };\n    }\n\n    // Sleeping control\n    get sleepingEnabled(): boolean {\n        return this.enableSleeping;\n    }\n\n    set sleepingEnabled(enabled: boolean) {\n        this.enableSleeping = enabled;\n        if (!enabled) {\n            // Wake up all sleeping bodies\n            this.rigidBodyMap.forEach(body => {\n                if (body.isSleeping) {\n                    body.setSleeping(false);\n                }\n            });\n        }\n    }\n\n    // Pair manager access\n    getPairManager(): PairManager {\n        return this.pairManager;\n    }\n\n    // Get collision statistics\n    getCollisionStats() {\n        return {\n            ...this.pairManager.getStats(),\n            sleepingBodies: Array.from(this.rigidBodyMap.values()).filter(body => body.isSleeping).length,\n            totalBodies: this.rigidBodyMap.size\n        };\n    }\n}\n",
-    "import { Point, PointCal } from \"@ue-too/math\";\nimport { RigidBody } from \"./rigidbody\";\n\nexport interface Constraint {\n    enforce(dt: number): void;\n}\n\nexport class FixedPinJoint implements Constraint {\n\n    private anchorA: Point;\n    private worldAnchorA: Point;\n    private bodyA: RigidBody;\n\n    constructor(bodyA: RigidBody, anchorA: Point, worldAnchorA: Point) {\n        this.bodyA = bodyA;\n        this.anchorA = anchorA;\n        this.worldAnchorA = worldAnchorA;\n    }\n\n    enforce(dt: number): void {\n        this.solveWorldPinJointConstraint(dt);\n    }\n\n    solveWorldPinJointConstraint(dt: number) {\n        const body = this.bodyA;\n        const localAnchor = this.anchorA;\n        const worldAnchor = this.worldAnchorA;\n\n        // Transform local anchor point to world space\n        const worldAnchorOnBody = PointCal.addVector(body.center, PointCal.rotatePoint(localAnchor, body.orientationAngle));\n\n        // Calculate the difference between the anchor points\n        const diff = PointCal.subVector(worldAnchorOnBody, worldAnchor);\n\n        // Calculate the relative velocity of the anchor point\n        const r = PointCal.subVector(worldAnchorOnBody, body.center);\n        const velocity = PointCal.addVector(\n            body.linearVelocity,\n            PointCal.crossProduct({x: 0, y: 0, z: body.angularVelocity}, r)\n        );\n\n        // Calculate the mass matrix\n        const invMass = body.isStatic() ? 0 : 1 / body.mass;\n        const invI = body.isStatic() ? 0 : 1 / body.momentOfInertia;\n\n        const K = {\n            x: invMass + invI * r.y * r.y,\n            y: invMass + invI * r.x * r.x,\n            xy: -invI * r.x * r.y\n        };\n\n        // Calculate the impulse\n        const baumgarte = 1; // Baumgarte stabilization factor\n        const impulse = {\n            x: -K.x * diff.x - K.xy * diff.y - baumgarte * diff.x / dt - velocity.x,\n            y: -K.xy * diff.x - K.y * diff.y - baumgarte * diff.y / dt - velocity.y\n        };\n\n        // Apply the impulse\n        if (!body.isStatic()) {\n            body.linearVelocity.x += invMass * impulse.x;\n            body.linearVelocity.y += invMass * impulse.y;\n            body.angularVelocity += invI * (r.x * impulse.y - r.y * impulse.x);\n        }\n    }\n}\n\nexport class PinJoint implements Constraint {\n\n    private anchorA: Point;\n    private anchorB: Point;\n    private bodyA: RigidBody;\n    private bodyB: RigidBody;\n\n    constructor(bodyA: RigidBody, bodyB: RigidBody, anchorA: Point, anchorB: Point) {\n        this.bodyA = bodyA;\n        this.bodyB = bodyB;\n        this.anchorA = anchorA;\n        this.anchorB = anchorB;\n    }\n\n    enforce(dt: number): void {\n        this.solvePinJointConstraint(dt);\n    }\n\n    solvePinJointConstraint(dt: number) {\n        const bodyA = this.bodyA;\n        const bodyB = this.bodyB;\n        const anchorA = this.anchorA;\n        const anchorB = this.anchorB;\n\n        // Transform local anchor points to world space\n        const worldAnchorA = PointCal.addVector(bodyA.center, PointCal.rotatePoint(anchorA, bodyA.orientationAngle));\n        const worldAnchorB = PointCal.addVector(bodyB.center, PointCal.rotatePoint(anchorB, bodyB.orientationAngle));\n    \n        // Calculate the difference between the two anchor points in world space\n        const diff = PointCal.subVector(worldAnchorB, worldAnchorA);\n    \n        // Calculate the relative velocity of the anchor points\n        const rA = PointCal.subVector(worldAnchorA, bodyA.center);\n        const rB = PointCal.subVector(worldAnchorB, bodyB.center);\n        const relativeVelocity = PointCal.subVector(\n            PointCal.addVector(bodyB.linearVelocity, PointCal.crossProduct({x: 0, y: 0, z: bodyB.angularVelocity}, rB)),\n            PointCal.addVector(bodyA.linearVelocity, PointCal.crossProduct({x: 0, y: 0, z: bodyA.angularVelocity}, rA))\n        );\n    \n        // Calculate the mass matrix\n        const invMassA = bodyA.isStatic() ? 0 : 1 / bodyA.mass;\n        const invMassB = bodyB.isStatic() ? 0 : 1 / bodyB.mass;\n        const invIA = bodyA.isStatic() ? 0 : 1 / bodyA.momentOfInertia;\n        const invIB = bodyB.isStatic() ? 0 : 1 / bodyB.momentOfInertia;\n    \n        const K = {\n            x: invMassA + invMassB + invIA * rA.y * rA.y + invIB * rB.y * rB.y,\n            y: invMassA + invMassB + invIA * rA.x * rA.x + invIB * rB.x * rB.x,\n            xy: -invIA * rA.x * rA.y - invIB * rB.x * rB.y\n        };\n    \n        // Calculate the impulse\n        const baumgarte = 1; // Baumgarte stabilization factor\n        const impulse = {\n            x: -K.x * diff.x - K.xy * diff.y - baumgarte * diff.x / dt - relativeVelocity.x,\n            y: -K.xy * diff.x - K.y * diff.y - baumgarte * diff.y / dt - relativeVelocity.y\n        };\n    \n        // Apply the impulse\n        if (!bodyA.isStatic()) {\n            bodyA.linearVelocity.x -= invMassA * impulse.x;\n            bodyA.linearVelocity.y -= invMassA * impulse.y;\n            bodyA.angularVelocity -= invIA * (rA.x * impulse.y - rA.y * impulse.x);\n        }\n    \n        if (!bodyB.isStatic()) {\n            bodyB.linearVelocity.x += invMassB * impulse.x;\n            bodyB.linearVelocity.y += invMassB * impulse.y;\n            bodyB.angularVelocity += invIB * (rB.x * impulse.y - rB.y * impulse.x);\n        }\n    }\n\n}\n\nexport interface PinJointConstraint {\n    bodyA: RigidBody;\n    bodyB: RigidBody;\n    anchorA: Point; // Local anchor point for bodyA\n    anchorB: Point; // Local anchor point for bodyB\n}\n\nexport function solvePinJointConstraint(constraint: PinJointConstraint, dt: number) {\n    const { bodyA, bodyB, anchorA, anchorB } = constraint;\n\n    // Transform local anchor points to world space\n    const worldAnchorA = PointCal.addVector(bodyA.center, PointCal.rotatePoint(anchorA, bodyA.orientationAngle));\n    const worldAnchorB = PointCal.addVector(bodyB.center, PointCal.rotatePoint(anchorB, bodyB.orientationAngle));\n\n    // Calculate the difference between the two anchor points in world space\n    const diff = PointCal.subVector(worldAnchorB, worldAnchorA);\n\n    // Calculate the relative velocity of the anchor points\n    const rA = PointCal.subVector(worldAnchorA, bodyA.center);\n    const rB = PointCal.subVector(worldAnchorB, bodyB.center);\n    const relativeVelocity = PointCal.subVector(\n        PointCal.addVector(bodyB.linearVelocity, PointCal.crossProduct({x: 0, y: 0, z: bodyB.angularVelocity}, rB)),\n        PointCal.addVector(bodyA.linearVelocity, PointCal.crossProduct({x: 0, y: 0, z: bodyA.angularVelocity}, rA))\n    );\n\n    // Calculate the mass matrix\n    const invMassA = bodyA.isStatic() ? 0 : 1 / bodyA.mass;\n    const invMassB = bodyB.isStatic() ? 0 : 1 / bodyB.mass;\n    const invIA = bodyA.isStatic() ? 0 : 1 / bodyA.momentOfInertia;\n    const invIB = bodyB.isStatic() ? 0 : 1 / bodyB.momentOfInertia;\n\n    const K = {\n        x: invMassA + invMassB + invIA * rA.y * rA.y + invIB * rB.y * rB.y,\n        y: invMassA + invMassB + invIA * rA.x * rA.x + invIB * rB.x * rB.x,\n        xy: -invIA * rA.x * rA.y - invIB * rB.x * rB.y\n    };\n\n    // Calculate the impulse\n    const baumgarte = 0.5; // Baumgarte stabilization factor\n    const impulse = {\n        x: -K.x * diff.x - K.xy * diff.y - baumgarte * diff.x / dt - relativeVelocity.x,\n        y: -K.xy * diff.x - K.y * diff.y - baumgarte * diff.y / dt - relativeVelocity.y\n    };\n\n    // Apply the impulse\n    if (!bodyA.isStatic()) {\n        bodyA.linearVelocity.x -= invMassA * impulse.x;\n        bodyA.linearVelocity.y -= invMassA * impulse.y;\n        bodyA.angularVelocity -= invIA * (rA.x * impulse.y - rA.y * impulse.x);\n    }\n\n    if (!bodyB.isStatic()) {\n        bodyB.linearVelocity.x += invMassB * impulse.x;\n        bodyB.linearVelocity.y += invMassB * impulse.y;\n        bodyB.angularVelocity += invIB * (rB.x * impulse.y - rB.y * impulse.x);\n    }\n}\n\nexport interface WorldPinJointConstraint {\n    body: RigidBody;\n    localAnchor: Point; // Anchor point in body's local space\n    worldAnchor: Point; // Fixed point in world space\n}\n\nexport function solveWorldPinJointConstraint(constraint: WorldPinJointConstraint, dt: number) {\n    const { body, localAnchor, worldAnchor } = constraint;\n\n    // Transform local anchor point to world space\n    const worldAnchorOnBody = PointCal.addVector(body.center, PointCal.rotatePoint(localAnchor, body.orientationAngle));\n\n    // Calculate the difference between the anchor points\n    const diff = PointCal.subVector(worldAnchorOnBody, worldAnchor);\n\n    // Calculate the relative velocity of the anchor point\n    const r = PointCal.subVector(worldAnchorOnBody, body.center);\n    const velocity = PointCal.addVector(\n        body.linearVelocity,\n        PointCal.crossProduct({x: 0, y: 0, z: body.angularVelocity}, r)\n    );\n\n    // Calculate the mass matrix\n    const invMass = body.isStatic() ? 0 : 1 / body.mass;\n    const invI = body.isStatic() ? 0 : 1 / body.momentOfInertia;\n\n    const K = {\n        x: invMass + invI * r.y * r.y,\n        y: invMass + invI * r.x * r.x,\n        xy: -invI * r.x * r.y\n    };\n\n    // Calculate the impulse\n    const baumgarte = 0.2; // Baumgarte stabilization factor\n    const impulse = {\n        x: -K.x * diff.x - K.xy * diff.y - baumgarte * diff.x / dt - velocity.x,\n        y: -K.xy * diff.x - K.y * diff.y - baumgarte * diff.y / dt - velocity.y\n    };\n\n    // Apply the impulse\n    if (!body.isStatic()) {\n        body.linearVelocity.x += invMass * impulse.x;\n        body.linearVelocity.y += invMass * impulse.y;\n        body.angularVelocity += invI * (r.x * impulse.y - r.y * impulse.x);\n    }\n}\n"
+    "import { RigidBody } from \"./rigidbody\";\nimport { Point } from \"@ue-too/math\";\n\n/**\n * Represents a collision pair between two bodies.\n *\n * @remarks\n * Tracks collision information across multiple frames, enabling\n * detection of collision start, update, and end events.\n *\n * @category Collision\n */\nexport interface CollisionPair {\n    bodyA: RigidBody;\n    bodyB: RigidBody;\n    id: string;\n    isActive: boolean;\n    contactPoints: Point[];\n    normal?: Point;\n    depth?: number;\n    frameCreated: number;\n    frameUpdated: number;\n}\n\nexport interface PairEvents {\n    created: CollisionPair[];\n    updated: CollisionPair[];\n    removed: CollisionPair[];\n}\n\n/**\n * Manages collision pairs across frames.\n *\n * @remarks\n * Tracks which bodies are colliding and for how long, enabling\n * collision lifecycle events (start, update, end). This is useful for\n * game logic like damage on collision start or triggers.\n *\n * Automatically cleans up old inactive pairs to prevent memory leaks.\n *\n * @example\n * Using collision events\n * ```typescript\n * const pairManager = world.getPairManager();\n *\n * world.step(dt);\n *\n * const events = pairManager.getActivePairs();\n * events.forEach(pair => {\n *   if (pair.frameCreated === world.currentFrame) {\n *     console.log('Collision started!');\n *   }\n * });\n * ```\n *\n * @category Collision\n */\nexport class PairManager {\n    private pairs = new Map<string, CollisionPair>();\n    private frameNumber = 0;\n    private maxPairAge = 10; // Remove inactive pairs after N frames\n\n    constructor() {}\n\n    // Generate unique ID for a pair\n    private getPairId(bodyA: RigidBody, bodyB: RigidBody): string {\n        const idA = this.getBodyId(bodyA);\n        const idB = this.getBodyId(bodyB);\n        // Ensure consistent ordering\n        return idA < idB ? `${idA}:${idB}` : `${idB}:${idA}`;\n    }\n\n    private getBodyId(body: RigidBody): string {\n        // Use object reference as unique ID\n        return body.toString();\n    }\n\n    // Update pairs for current frame\n    updatePairs(newCollisions: {bodyA: RigidBody, bodyB: RigidBody, contactPoints?: Point[], normal?: Point, depth?: number}[]): PairEvents {\n        this.frameNumber++;\n        \n        const events: PairEvents = {\n            created: [],\n            updated: [],\n            removed: []\n        };\n\n        // Mark all existing pairs as inactive for this frame\n        this.pairs.forEach(pair => {\n            pair.isActive = false;\n        });\n\n        // Process new collisions\n        for (const collision of newCollisions) {\n            const id = this.getPairId(collision.bodyA, collision.bodyB);\n            const existingPair = this.pairs.get(id);\n\n            if (existingPair) {\n                // Update existing pair\n                existingPair.isActive = true;\n                existingPair.frameUpdated = this.frameNumber;\n                existingPair.contactPoints = collision.contactPoints || [];\n                existingPair.normal = collision.normal;\n                existingPair.depth = collision.depth;\n                events.updated.push(existingPair);\n            } else {\n                // Create new pair\n                const newPair: CollisionPair = {\n                    bodyA: collision.bodyA,\n                    bodyB: collision.bodyB,\n                    id,\n                    isActive: true,\n                    contactPoints: collision.contactPoints || [],\n                    normal: collision.normal,\n                    depth: collision.depth,\n                    frameCreated: this.frameNumber,\n                    frameUpdated: this.frameNumber\n                };\n                this.pairs.set(id, newPair);\n                events.created.push(newPair);\n            }\n        }\n\n        // Remove old inactive pairs\n        const pairsToRemove: string[] = [];\n        this.pairs.forEach((pair, id) => {\n            if (!pair.isActive && (this.frameNumber - pair.frameUpdated) > this.maxPairAge) {\n                pairsToRemove.push(id);\n                events.removed.push(pair);\n            }\n        });\n\n        pairsToRemove.forEach(id => {\n            this.pairs.delete(id);\n        });\n\n        return events;\n    }\n\n    // Get all active pairs\n    getActivePairs(): CollisionPair[] {\n        return Array.from(this.pairs.values()).filter(pair => pair.isActive);\n    }\n\n    // Get pair by bodies\n    getPair(bodyA: RigidBody, bodyB: RigidBody): CollisionPair | undefined {\n        const id = this.getPairId(bodyA, bodyB);\n        return this.pairs.get(id);\n    }\n\n    // Clear all pairs\n    clear(): void {\n        this.pairs.clear();\n        this.frameNumber = 0;\n    }\n\n    // Get statistics\n    getStats() {\n        return {\n            totalPairs: this.pairs.size,\n            activePairs: this.getActivePairs().length,\n            frameNumber: this.frameNumber\n        };\n    }\n}",
+    "import { RigidBody } from \"./rigidbody\";\nimport * as Collision from \"./collision\";\nimport { RectangleBound, QuadTree} from \"./quadtree\"\nimport { DynamicTree, SpatialIndex, SweepAndPrune } from \"./dynamic-tree\";\nimport { Point } from \"@ue-too/math\";\nimport { Constraint } from \"./constraint\";\nimport { PinJointConstraint } from \"./constraint\";\nimport { PairManager, PairEvents } from \"./pair-manager\";\nimport { canCollide } from \"./collision-filter\";\n\n/**\n * Spatial indexing algorithm types.\n *\n * @remarks\n * Different algorithms have different performance characteristics:\n * - **quadtree**: Best for static or mostly-static worlds\n * - **dynamictree**: Good balance for mixed static/dynamic\n * - **sap**: Best for many dynamic bodies (sweep-and-prune)\n *\n * @category Core\n */\nexport type SpatialIndexType = 'quadtree' | 'dynamictree' | 'sap';\n\n/**\n * Main physics world managing rigid body simulation.\n *\n * @remarks\n * The World class is the main entry point for physics simulation. It manages\n * all rigid bodies, runs collision detection and response, enforces constraints,\n * and provides performance optimizations like sleeping and spatial indexing.\n *\n * ### Simulation Loop\n *\n * Call `world.step(deltaTime)` each frame to advance the simulation. This:\n * 1. Updates sleeping states\n * 2. Detects collisions (broad and narrow phase)\n * 3. Resolves collisions with impulses\n * 4. Enforces constraints\n * 5. Updates body positions and velocities\n *\n * ### Performance Tuning\n *\n * - Choose appropriate spatial index for your use case\n * - Enable sleeping for better performance with many bodies\n * - Use collision filtering to reduce collision checks\n *\n * @example\n * Basic setup\n * ```typescript\n * const world = new World(2000, 2000, 'dynamictree');\n *\n * // Add bodies\n * const ball = new Circle({ x: 0, y: 100 }, 20, 0, 10, false);\n * world.addRigidBody('ball', ball);\n *\n * // Simulation loop\n * function update(dt: number) {\n *   world.step(dt);\n * }\n * ```\n *\n * @category Core\n */\nexport class World {\n    private rigidBodyList: RigidBody[];\n    private rigidBodyMap: Map<string, RigidBody>;\n    private _resolveCollision: boolean;\n    private maxTransWidth: number;\n    private maxTransHeight: number;\n    private bound: RectangleBound;\n    private spatialIndex: SpatialIndex<RigidBody>;\n    private spatialIndexType: SpatialIndexType;\n    private constraints: Constraint[];\n    private pinJoints: PinJointConstraint[] = [];\n    private pairManager: PairManager;\n    private enableSleeping: boolean = true;\n    _context: CanvasRenderingContext2D | null = null;\n\n    constructor(maxTransWidth: number, maxTransHeight: number, spatialIndexType: SpatialIndexType = 'dynamictree'){\n        this.maxTransHeight = maxTransHeight;\n        this.maxTransWidth = maxTransWidth;\n        this.spatialIndexType = spatialIndexType;\n        this.bound = new RectangleBound({x: -this.maxTransWidth, y: -this.maxTransHeight}, 2 * this.maxTransWidth, 2 * this.maxTransHeight);\n        \n        // Initialize spatial index based on type\n        if (spatialIndexType === 'dynamictree') {\n            this.spatialIndex = new DynamicTree<RigidBody>();\n        } else if (spatialIndexType === 'sap') {\n            this.spatialIndex = new SweepAndPrune<RigidBody>();\n        } else {\n            this.spatialIndex = new QuadTree(0, this.bound);\n        }\n        \n        this.rigidBodyList = [];\n        this.rigidBodyMap = new Map<string, RigidBody>();\n        this._resolveCollision = true;\n        this.constraints = [];\n        this.pairManager = new PairManager();\n    }\n\n    addRigidBody(ident: string, body: RigidBody): void{\n        this.rigidBodyList.push(body);\n        this.rigidBodyMap.set(ident, body);\n        \n        // Add to spatial index immediately for sweep-and-prune\n        if (this.spatialIndexType === 'sap') {\n            this.spatialIndex.insert(body);\n        }\n    }\n\n    removeRigidBody(ident: string): void{\n        if (this.rigidBodyMap.has(ident)) {\n            const body = this.rigidBodyMap.get(ident);\n            this.rigidBodyMap.delete(ident);\n            \n            // Remove from spatial index for sweep-and-prune\n            if (body && this.spatialIndexType === 'sap' && this.spatialIndex instanceof SweepAndPrune) {\n                (this.spatialIndex as SweepAndPrune<RigidBody>).remove(body);\n            }\n            \n            // Remove from rigidBodyList as well\n            const index = this.rigidBodyList.findIndex(b => b === body);\n            if (index !== -1) {\n                this.rigidBodyList.splice(index, 1);\n            }\n        }\n    }\n\n    step(deltaTime: number): void{\n        // Update sleeping states first\n        if (this.enableSleeping) {\n            this.getRigidBodyList().forEach(rigidBody => {\n                rigidBody.updateSleeping(deltaTime);\n            });\n        }\n\n        if(this._resolveCollision){\n            const contactPoints = this.resolveCollisionPhase();\n        }\n        // if(this._context != null){\n        //     this.spatialIndex.draw?.(this._context);\n        //     contactPoints.forEach((contactPoint) => {\n        //         if(this._context != null){\n        //             this._context.lineWidth = 1;\n        //             this._context.strokeStyle = \"red\";\n        //         }\n        //         this._context?.beginPath();\n        //         this._context?.arc(contactPoint.x, contactPoint.y, 3, 0, 2 * Math.PI);\n        //         this._context?.stroke();\n        //     });\n        // }\n        this.constraints.forEach(constraint => constraint.enforce(deltaTime));\n        this.getRigidBodyList().forEach(rigidBody => {\n            if (!rigidBody.isSleeping) {\n                rigidBody.step(deltaTime);\n            }\n        });\n    }\n\n    resolveCollisionPhase(): Point[]{\n        let rigidBodyList: RigidBody[] = [];\n        \n        // Use incremental updates for sweep-and-prune, full rebuild for others\n        if (this.spatialIndexType === 'sap') {\n            // For sweep-and-prune: use incremental updates for better performance\n            this.rigidBodyMap.forEach((body) => {\n                if (!this.enableSleeping || !body.isSleeping) {\n                    rigidBodyList.push(body);\n                    // Update existing objects in spatial index\n                    if (this.spatialIndex instanceof SweepAndPrune) {\n                        (this.spatialIndex as SweepAndPrune<RigidBody>).update(body);\n                    }\n                }\n            });\n        } else {\n            // For QuadTree and DynamicTree: rebuild each frame (existing behavior)\n            this.spatialIndex.clear();\n            this.rigidBodyMap.forEach((body) => {\n                if (!this.enableSleeping || !body.isSleeping) {\n                    rigidBodyList.push(body);\n                    this.spatialIndex.insert(body);\n                }\n            });\n        }\n        \n        // console.log(\"spatial index size: \", this.spatialIndex);\n        let possibleCombinations = Collision.broadPhaseWithSpatialIndexFiltered(this.spatialIndex, rigidBodyList);\n        let collisionResults = Collision.narrowPhaseWithRigidBodyAndPairs(rigidBodyList, possibleCombinations, this._resolveCollision);\n        \n        // Update pair manager with new collisions\n        const pairEvents = this.pairManager.updatePairs(collisionResults.collisions);\n        \n        // Wake up bodies that start colliding\n        if (this.enableSleeping) {\n            pairEvents.created.forEach(pair => {\n                if (pair.bodyA.isSleeping) pair.bodyA.setSleeping(false);\n                if (pair.bodyB.isSleeping) pair.bodyB.setSleeping(false);\n            });\n        }\n        \n        return collisionResults.contactPoints;\n    }\n\n    get resolveCollision(): boolean{\n        return this._resolveCollision;\n    }\n\n    set resolveCollision(resolveCollision: boolean){\n        this._resolveCollision = resolveCollision;\n    }\n\n    getRigidBodyList(){\n        let rigidBodyList:RigidBody[] = [];\n        this.rigidBodyMap.forEach((body) => {\n            rigidBodyList.push(body);\n        })\n        return rigidBodyList;\n    }\n\n    getRigidBodyMap(): Map<string, RigidBody>{\n        return this.rigidBodyMap;\n    }\n\n    setMaxTransHeight(height: number){\n        this.maxTransHeight = height;\n    }\n\n    setMaxTransWidth(width: number){\n        this.maxTransWidth = width;\n    }\n\n    addConstraint(constraint: Constraint): void{\n        this.constraints.push(constraint);\n    }\n\n    getConstraints(): Constraint[]{\n        return this.constraints;\n    }\n\n    addPinJoint(bodyA: RigidBody, bodyB: RigidBody, anchorA: Point, anchorB: Point) {\n        this.pinJoints.push({ bodyA, bodyB, anchorA, anchorB });\n    }\n\n    get currentSpatialIndexType(): SpatialIndexType {\n        return this.spatialIndexType;\n    }\n\n    setSpatialIndexType(type: SpatialIndexType): void {\n        if (type === this.spatialIndexType) return;\n        \n        this.spatialIndexType = type;\n        if (type === 'dynamictree') {\n            this.spatialIndex = new DynamicTree<RigidBody>();\n        } else if (type === 'sap') {\n            this.spatialIndex = new SweepAndPrune<RigidBody>();\n        } else {\n            this.spatialIndex = new QuadTree(0, this.bound);\n        }\n    }\n\n    getSpatialIndexStats(): any {\n        if (this.spatialIndex instanceof DynamicTree) {\n            return (this.spatialIndex as DynamicTree<RigidBody>).getStats();\n        } else if (this.spatialIndex instanceof SweepAndPrune) {\n            return {\n                type: this.spatialIndexType,\n                ...(this.spatialIndex as SweepAndPrune<RigidBody>).getStats()\n            };\n        }\n        return { type: this.spatialIndexType, objects: this.rigidBodyMap.size };\n    }\n\n    // Sleeping control\n    get sleepingEnabled(): boolean {\n        return this.enableSleeping;\n    }\n\n    set sleepingEnabled(enabled: boolean) {\n        this.enableSleeping = enabled;\n        if (!enabled) {\n            // Wake up all sleeping bodies\n            this.rigidBodyMap.forEach(body => {\n                if (body.isSleeping) {\n                    body.setSleeping(false);\n                }\n            });\n        }\n    }\n\n    // Pair manager access\n    getPairManager(): PairManager {\n        return this.pairManager;\n    }\n\n    // Get collision statistics\n    getCollisionStats() {\n        return {\n            ...this.pairManager.getStats(),\n            sleepingBodies: Array.from(this.rigidBodyMap.values()).filter(body => body.isSleeping).length,\n            totalBodies: this.rigidBodyMap.size\n        };\n    }\n}\n",
+    "import { Point, PointCal } from \"@ue-too/math\";\nimport { RigidBody } from \"./rigidbody\";\n\n/**\n * Physics constraint interface.\n *\n * @remarks\n * Constraints restrict the motion of rigid bodies. Common examples include\n * pin joints, distance constraints, and angle limits.\n *\n * Constraints are solved using iterative methods and Baumgarte stabilization\n * to prevent drift over time.\n *\n * @category Constraints\n */\nexport interface Constraint {\n    /**\n     * Enforces the constraint for one timestep.\n     *\n     * @param dt - Timestep in seconds\n     */\n    enforce(dt: number): void;\n}\n\n/**\n * Pin joint connecting a body to a fixed world point.\n *\n * @remarks\n * Creates a pendulum-like constraint where a point on the body is pinned\n * to a fixed location in world space. The body can rotate around this point.\n *\n * Uses Baumgarte stabilization to prevent drift.\n *\n * @example\n * Create a pendulum\n * ```typescript\n * const bob = new Circle({ x: 0, y: 100 }, 20, 0, 10, false);\n * const joint = new FixedPinJoint(\n *   bob,\n *   { x: 0, y: 0 },  // Anchor on bob (center)\n *   { x: 0, y: 0 }   // World anchor (ceiling)\n * );\n * world.addRigidBody('bob', bob);\n * world.addConstraint(joint);\n * ```\n *\n * @category Constraints\n */\nexport class FixedPinJoint implements Constraint {\n\n    private anchorA: Point;\n    private worldAnchorA: Point;\n    private bodyA: RigidBody;\n\n    constructor(bodyA: RigidBody, anchorA: Point, worldAnchorA: Point) {\n        this.bodyA = bodyA;\n        this.anchorA = anchorA;\n        this.worldAnchorA = worldAnchorA;\n    }\n\n    enforce(dt: number): void {\n        this.solveWorldPinJointConstraint(dt);\n    }\n\n    solveWorldPinJointConstraint(dt: number) {\n        const body = this.bodyA;\n        const localAnchor = this.anchorA;\n        const worldAnchor = this.worldAnchorA;\n\n        // Transform local anchor point to world space\n        const worldAnchorOnBody = PointCal.addVector(body.center, PointCal.rotatePoint(localAnchor, body.orientationAngle));\n\n        // Calculate the difference between the anchor points\n        const diff = PointCal.subVector(worldAnchorOnBody, worldAnchor);\n\n        // Calculate the relative velocity of the anchor point\n        const r = PointCal.subVector(worldAnchorOnBody, body.center);\n        const velocity = PointCal.addVector(\n            body.linearVelocity,\n            PointCal.crossProduct({x: 0, y: 0, z: body.angularVelocity}, r)\n        );\n\n        // Calculate the mass matrix\n        const invMass = body.isStatic() ? 0 : 1 / body.mass;\n        const invI = body.isStatic() ? 0 : 1 / body.momentOfInertia;\n\n        const K = {\n            x: invMass + invI * r.y * r.y,\n            y: invMass + invI * r.x * r.x,\n            xy: -invI * r.x * r.y\n        };\n\n        // Calculate the impulse\n        const baumgarte = 1; // Baumgarte stabilization factor\n        const impulse = {\n            x: -K.x * diff.x - K.xy * diff.y - baumgarte * diff.x / dt - velocity.x,\n            y: -K.xy * diff.x - K.y * diff.y - baumgarte * diff.y / dt - velocity.y\n        };\n\n        // Apply the impulse\n        if (!body.isStatic()) {\n            body.linearVelocity.x += invMass * impulse.x;\n            body.linearVelocity.y += invMass * impulse.y;\n            body.angularVelocity += invI * (r.x * impulse.y - r.y * impulse.x);\n        }\n    }\n}\n\n/**\n * Pin joint connecting two bodies together.\n *\n * @remarks\n * Connects two bodies at specified anchor points. The bodies can rotate\n * relative to each other around the joint.\n *\n * Useful for creating chains, ragdolls, and mechanical linkages.\n *\n * @example\n * Create a chain\n * ```typescript\n * const link1 = new Circle({ x: 0, y: 0 }, 10);\n * const link2 = new Circle({ x: 30, y: 0 }, 10);\n *\n * const joint = new PinJoint(\n *   link1,\n *   link2,\n *   { x: 10, y: 0 },   // Right edge of link1\n *   { x: -10, y: 0 }   // Left edge of link2\n * );\n *\n * world.addRigidBody('link1', link1);\n * world.addRigidBody('link2', link2);\n * world.addConstraint(joint);\n * ```\n *\n * @category Constraints\n */\nexport class PinJoint implements Constraint {\n\n    private anchorA: Point;\n    private anchorB: Point;\n    private bodyA: RigidBody;\n    private bodyB: RigidBody;\n\n    constructor(bodyA: RigidBody, bodyB: RigidBody, anchorA: Point, anchorB: Point) {\n        this.bodyA = bodyA;\n        this.bodyB = bodyB;\n        this.anchorA = anchorA;\n        this.anchorB = anchorB;\n    }\n\n    enforce(dt: number): void {\n        this.solvePinJointConstraint(dt);\n    }\n\n    solvePinJointConstraint(dt: number) {\n        const bodyA = this.bodyA;\n        const bodyB = this.bodyB;\n        const anchorA = this.anchorA;\n        const anchorB = this.anchorB;\n\n        // Transform local anchor points to world space\n        const worldAnchorA = PointCal.addVector(bodyA.center, PointCal.rotatePoint(anchorA, bodyA.orientationAngle));\n        const worldAnchorB = PointCal.addVector(bodyB.center, PointCal.rotatePoint(anchorB, bodyB.orientationAngle));\n    \n        // Calculate the difference between the two anchor points in world space\n        const diff = PointCal.subVector(worldAnchorB, worldAnchorA);\n    \n        // Calculate the relative velocity of the anchor points\n        const rA = PointCal.subVector(worldAnchorA, bodyA.center);\n        const rB = PointCal.subVector(worldAnchorB, bodyB.center);\n        const relativeVelocity = PointCal.subVector(\n            PointCal.addVector(bodyB.linearVelocity, PointCal.crossProduct({x: 0, y: 0, z: bodyB.angularVelocity}, rB)),\n            PointCal.addVector(bodyA.linearVelocity, PointCal.crossProduct({x: 0, y: 0, z: bodyA.angularVelocity}, rA))\n        );\n    \n        // Calculate the mass matrix\n        const invMassA = bodyA.isStatic() ? 0 : 1 / bodyA.mass;\n        const invMassB = bodyB.isStatic() ? 0 : 1 / bodyB.mass;\n        const invIA = bodyA.isStatic() ? 0 : 1 / bodyA.momentOfInertia;\n        const invIB = bodyB.isStatic() ? 0 : 1 / bodyB.momentOfInertia;\n    \n        const K = {\n            x: invMassA + invMassB + invIA * rA.y * rA.y + invIB * rB.y * rB.y,\n            y: invMassA + invMassB + invIA * rA.x * rA.x + invIB * rB.x * rB.x,\n            xy: -invIA * rA.x * rA.y - invIB * rB.x * rB.y\n        };\n    \n        // Calculate the impulse\n        const baumgarte = 1; // Baumgarte stabilization factor\n        const impulse = {\n            x: -K.x * diff.x - K.xy * diff.y - baumgarte * diff.x / dt - relativeVelocity.x,\n            y: -K.xy * diff.x - K.y * diff.y - baumgarte * diff.y / dt - relativeVelocity.y\n        };\n    \n        // Apply the impulse\n        if (!bodyA.isStatic()) {\n            bodyA.linearVelocity.x -= invMassA * impulse.x;\n            bodyA.linearVelocity.y -= invMassA * impulse.y;\n            bodyA.angularVelocity -= invIA * (rA.x * impulse.y - rA.y * impulse.x);\n        }\n    \n        if (!bodyB.isStatic()) {\n            bodyB.linearVelocity.x += invMassB * impulse.x;\n            bodyB.linearVelocity.y += invMassB * impulse.y;\n            bodyB.angularVelocity += invIB * (rB.x * impulse.y - rB.y * impulse.x);\n        }\n    }\n\n}\n\nexport interface PinJointConstraint {\n    bodyA: RigidBody;\n    bodyB: RigidBody;\n    anchorA: Point; // Local anchor point for bodyA\n    anchorB: Point; // Local anchor point for bodyB\n}\n\nexport function solvePinJointConstraint(constraint: PinJointConstraint, dt: number) {\n    const { bodyA, bodyB, anchorA, anchorB } = constraint;\n\n    // Transform local anchor points to world space\n    const worldAnchorA = PointCal.addVector(bodyA.center, PointCal.rotatePoint(anchorA, bodyA.orientationAngle));\n    const worldAnchorB = PointCal.addVector(bodyB.center, PointCal.rotatePoint(anchorB, bodyB.orientationAngle));\n\n    // Calculate the difference between the two anchor points in world space\n    const diff = PointCal.subVector(worldAnchorB, worldAnchorA);\n\n    // Calculate the relative velocity of the anchor points\n    const rA = PointCal.subVector(worldAnchorA, bodyA.center);\n    const rB = PointCal.subVector(worldAnchorB, bodyB.center);\n    const relativeVelocity = PointCal.subVector(\n        PointCal.addVector(bodyB.linearVelocity, PointCal.crossProduct({x: 0, y: 0, z: bodyB.angularVelocity}, rB)),\n        PointCal.addVector(bodyA.linearVelocity, PointCal.crossProduct({x: 0, y: 0, z: bodyA.angularVelocity}, rA))\n    );\n\n    // Calculate the mass matrix\n    const invMassA = bodyA.isStatic() ? 0 : 1 / bodyA.mass;\n    const invMassB = bodyB.isStatic() ? 0 : 1 / bodyB.mass;\n    const invIA = bodyA.isStatic() ? 0 : 1 / bodyA.momentOfInertia;\n    const invIB = bodyB.isStatic() ? 0 : 1 / bodyB.momentOfInertia;\n\n    const K = {\n        x: invMassA + invMassB + invIA * rA.y * rA.y + invIB * rB.y * rB.y,\n        y: invMassA + invMassB + invIA * rA.x * rA.x + invIB * rB.x * rB.x,\n        xy: -invIA * rA.x * rA.y - invIB * rB.x * rB.y\n    };\n\n    // Calculate the impulse\n    const baumgarte = 0.5; // Baumgarte stabilization factor\n    const impulse = {\n        x: -K.x * diff.x - K.xy * diff.y - baumgarte * diff.x / dt - relativeVelocity.x,\n        y: -K.xy * diff.x - K.y * diff.y - baumgarte * diff.y / dt - relativeVelocity.y\n    };\n\n    // Apply the impulse\n    if (!bodyA.isStatic()) {\n        bodyA.linearVelocity.x -= invMassA * impulse.x;\n        bodyA.linearVelocity.y -= invMassA * impulse.y;\n        bodyA.angularVelocity -= invIA * (rA.x * impulse.y - rA.y * impulse.x);\n    }\n\n    if (!bodyB.isStatic()) {\n        bodyB.linearVelocity.x += invMassB * impulse.x;\n        bodyB.linearVelocity.y += invMassB * impulse.y;\n        bodyB.angularVelocity += invIB * (rB.x * impulse.y - rB.y * impulse.x);\n    }\n}\n\nexport interface WorldPinJointConstraint {\n    body: RigidBody;\n    localAnchor: Point; // Anchor point in body's local space\n    worldAnchor: Point; // Fixed point in world space\n}\n\nexport function solveWorldPinJointConstraint(constraint: WorldPinJointConstraint, dt: number) {\n    const { body, localAnchor, worldAnchor } = constraint;\n\n    // Transform local anchor point to world space\n    const worldAnchorOnBody = PointCal.addVector(body.center, PointCal.rotatePoint(localAnchor, body.orientationAngle));\n\n    // Calculate the difference between the anchor points\n    const diff = PointCal.subVector(worldAnchorOnBody, worldAnchor);\n\n    // Calculate the relative velocity of the anchor point\n    const r = PointCal.subVector(worldAnchorOnBody, body.center);\n    const velocity = PointCal.addVector(\n        body.linearVelocity,\n        PointCal.crossProduct({x: 0, y: 0, z: body.angularVelocity}, r)\n    );\n\n    // Calculate the mass matrix\n    const invMass = body.isStatic() ? 0 : 1 / body.mass;\n    const invI = body.isStatic() ? 0 : 1 / body.momentOfInertia;\n\n    const K = {\n        x: invMass + invI * r.y * r.y,\n        y: invMass + invI * r.x * r.x,\n        xy: -invI * r.x * r.y\n    };\n\n    // Calculate the impulse\n    const baumgarte = 0.2; // Baumgarte stabilization factor\n    const impulse = {\n        x: -K.x * diff.x - K.xy * diff.y - baumgarte * diff.x / dt - velocity.x,\n        y: -K.xy * diff.x - K.y * diff.y - baumgarte * diff.y / dt - velocity.y\n    };\n\n    // Apply the impulse\n    if (!body.isStatic()) {\n        body.linearVelocity.x += invMass * impulse.x;\n        body.linearVelocity.y += invMass * impulse.y;\n        body.angularVelocity += invI * (r.x * impulse.y - r.y * impulse.x);\n    }\n}\n"
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 }