@vworlds/vecs-physics 1.0.26 → 1.0.27

package/systems/events.js

@@ -1,6 +1,6 @@
 import { ContactEvents, HitEvents, SensorEvents } from "../components/events.js";
-import { PhysicsSystemTag } from "../adapter/state.js";
-export function installEvents(world, state, phase) {
+import { PhysicsSystemTag } from "../adapter/engine.js";
+export function installEvents(world, engine, phase) {
     const system = world
         .system("PhysicsEvents")
         .phase(phase)
@@ -8,41 +8,41 @@ export function installEvents(world, state, phase) {
         const touchedContact = new Set();
         const touchedSensor = new Set();
         const touchedHit = new Set();
-        publishContactAndHitEvents(world, state, touchedContact, touchedHit);
-        publishSensorEvents(world, state, touchedSensor);
+        publishContactAndHitEvents(world, engine, touchedContact, touchedHit);
+        publishSensorEvents(world, engine, touchedSensor);
         markModified(world, touchedContact, ContactEvents);
         markModified(world, touchedSensor, SensorEvents);
         markModified(world, touchedHit, HitEvents);
-        clearUntouchedContactEvents(world, state.prevTouchedContact, touchedContact);
-        clearUntouchedSensorEvents(world, state.prevTouchedSensor, touchedSensor);
-        clearUntouchedHitEvents(world, state.prevTouchedHit, touchedHit);
-        // Store touched sets on state for the next step's clear pass.
-        state.prevTouchedContact.clear();
+        clearUntouchedContactEvents(world, engine.prevTouchedContact, touchedContact);
+        clearUntouchedSensorEvents(world, engine.prevTouchedSensor, touchedSensor);
+        clearUntouchedHitEvents(world, engine.prevTouchedHit, touchedHit);
+        // Store touched sets on engine for the next step's clear pass.
+        engine.prevTouchedContact.clear();
         for (const eid of touchedContact) {
-            state.prevTouchedContact.add(eid);
+            engine.prevTouchedContact.add(eid);
         }
-        state.prevTouchedSensor.clear();
+        engine.prevTouchedSensor.clear();
         for (const eid of touchedSensor) {
-            state.prevTouchedSensor.add(eid);
+            engine.prevTouchedSensor.add(eid);
         }
-        state.prevTouchedHit.clear();
+        engine.prevTouchedHit.clear();
         for (const eid of touchedHit) {
-            state.prevTouchedHit.add(eid);
+            engine.prevTouchedHit.add(eid);
         }
     });
     system.entity.add(PhysicsSystemTag);
 }
 // Contact begin/end and hit events all come from a single
 // `b2World_GetContactEvents` poll, so fetch the event block once per step and
-// fan begin/end into `touchedContact` and hits into `touchedHit` (PLAN.md ->
+// fan begin/end into `touchedContact` and hits into `touchedHit` (ARCHITECTURE.md ->
 // PhysicsEvents: "poll once per step").
-function publishContactAndHitEvents(world, state, touchedContact, touchedHit) {
-    const events = state.box2d.b2World_GetContactEvents(state.worldId);
+function publishContactAndHitEvents(world, engine, touchedContact, touchedHit) {
+    const events = engine.box2d.b2World_GetContactEvents(engine.worldId);
     try {
         for (let i = 0; i < events.beginCount; i++) {
             const event = events.GetBeginEvent(i);
             try {
-                emitContactEvent(world, state, touchedContact, event, "begin");
+                emitContactEvent(world, engine, touchedContact, event, "begin");
             }
             finally {
                 deleteIfPresent(event);
@@ -50,12 +50,12 @@ function publishContactAndHitEvents(world, state, touchedContact, touchedHit) {
         }
         for (let i = 0; i < events.endCount; i++) {
             const event = events.GetEndEvent(i);
-            emitContactEvent(world, state, touchedContact, event, "end");
+            emitContactEvent(world, engine, touchedContact, event, "end");
         }
         for (let i = 0; i < events.hitCount; i++) {
             const event = events.GetHitEvent(i);
             try {
-                emitHitEvent(world, state, touchedHit, event);
+                emitHitEvent(world, engine, touchedHit, event);
             }
             finally {
                 event.delete();
@@ -66,32 +66,32 @@ function publishContactAndHitEvents(world, state, touchedContact, touchedHit) {
         events.delete();
     }
 }
-function publishSensorEvents(world, state, touched) {
-    const events = state.box2d.b2World_GetSensorEvents(state.worldId);
+function publishSensorEvents(world, engine, touched) {
+    const events = engine.box2d.b2World_GetSensorEvents(engine.worldId);
     try {
         for (let i = 0; i < events.beginCount; i++) {
-            emitSensorEvent(world, state, touched, events.GetBeginEvent(i), "begin");
+            emitSensorEvent(world, engine, touched, events.GetBeginEvent(i), "begin");
         }
         for (let i = 0; i < events.endCount; i++) {
-            emitSensorEvent(world, state, touched, events.GetEndEvent(i), "end");
+            emitSensorEvent(world, engine, touched, events.GetEndEvent(i), "end");
         }
     }
     finally {
         events.delete();
     }
 }
-function emitContactEvent(world, state, touched, event, kind) {
-    const entityA = getLiveEntity(world, state.entityByShapeIndex.get(event.shapeIdA.index1));
-    const entityB = getLiveEntity(world, state.entityByShapeIndex.get(event.shapeIdB.index1));
+function emitContactEvent(world, engine, touched, event, kind) {
+    const entityA = getLiveEntity(world, engine.entityByShapeIndex.get(event.shapeIdA.index1));
+    const entityB = getLiveEntity(world, engine.entityByShapeIndex.get(event.shapeIdB.index1));
     if (entityA === undefined || entityB === undefined) {
         return;
     }
     emitContactToEntity(touched, entityA, entityB, kind);
     emitContactToEntity(touched, entityB, entityA, kind);
 }
-function emitSensorEvent(world, state, touched, event, kind) {
-    const sensor = getLiveEntity(world, state.entityByShapeIndex.get(event.sensorShapeId.index1));
-    const visitor = getLiveEntity(world, state.entityByShapeIndex.get(event.visitorShapeId.index1));
+function emitSensorEvent(world, engine, touched, event, kind) {
+    const sensor = getLiveEntity(world, engine.entityByShapeIndex.get(event.sensorShapeId.index1));
+    const visitor = getLiveEntity(world, engine.entityByShapeIndex.get(event.visitorShapeId.index1));
     if (sensor === undefined || visitor === undefined) {
         return;
     }
@@ -111,9 +111,9 @@ function emitSensorEvent(world, state, touched, event, kind) {
         events.end.push({ other: visitor });
     }
 }
-function emitHitEvent(world, state, touched, event) {
-    const entityA = getLiveEntity(world, state.entityByShapeIndex.get(event.shapeIdA.index1));
-    const entityB = getLiveEntity(world, state.entityByShapeIndex.get(event.shapeIdB.index1));
+function emitHitEvent(world, engine, touched, event) {
+    const entityA = getLiveEntity(world, engine.entityByShapeIndex.get(event.shapeIdA.index1));
+    const entityB = getLiveEntity(world, engine.entityByShapeIndex.get(event.shapeIdB.index1));
     if (entityA === undefined || entityB === undefined) {
         return;
     }
@@ -209,6 +209,6 @@ function deleteIfPresent(value) {
     value.delete?.();
 }
 function isDestroyed(entity) {
-    return entity._destroyed === true;
+    return entity.destroyed;
 }
 //# sourceMappingURL=events.js.map

package/systems/events.js.map

@@ -1 +1 @@
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package/systems/forces.d.ts

@@ -1,3 +1,3 @@
 import { type Entity, type World } from "@vworlds/vecs";
-import { type PhysicsState } from "../adapter/state.js";
-export declare function installForceGather(world: World, state: PhysicsState, phase: Entity): void;
+import { type PhysicsEngine } from "../adapter/engine.js";
+export declare function installForceGather(world: World, engine: PhysicsEngine, phase: Entity): void;

package/systems/forces.js

@@ -1,34 +1,34 @@
 import { ChildOf } from "@vworlds/vecs";
 import { Body } from "../components/body.js";
 import { Force, Torque } from "../components/force.js";
-import { PhysicsSystemTag } from "../adapter/state.js";
+import { scr_b2Vec2 } from "../adapter/runtime.js";
+import { PhysicsSystemTag } from "../adapter/engine.js";
 const forceTargetPredicate = { any: [Body, { parent: Body }] };
-export function installForceGather(world, state, phase) {
+export function installForceGather(world, engine, phase) {
     const forceSystem = world
         .system("PhysicsForceGather:Force")
         .with(Force, forceTargetPredicate)
         .phase(phase);
     forceSystem.entity.add(PhysicsSystemTag);
-    forceSystem.each([Force, Body, { target: [ChildOf, [Body]] }], (_entity, tuple) => {
-        const [force, body, parentBody] = tuple;
+    forceSystem.each([Force, Body, { target: [ChildOf, [Body]] }], (_entity, [force, body, parentBody]) => {
         const bodyId = body?._bodyId ?? parentBody?._bodyId;
         if (bodyId === undefined) {
             return;
         }
-        state.scratchVec2.Set(force.x, force.y);
-        state.box2d.b2Body_ApplyForceToCenter(bodyId, state.scratchVec2, force.wake);
+        const vec = scr_b2Vec2[0];
+        vec.Set(force.x, force.y);
+        engine.box2d.b2Body_ApplyForceToCenter(bodyId, vec, force.wake);
     });
     const torqueSystem = world
         .system("PhysicsForceGather:Torque")
         .with(Torque, forceTargetPredicate)
         .phase(phase)
-        .each([Torque, Body, { target: [ChildOf, [Body]] }], (_entity, tuple) => {
-        const [torque, body, parentBody] = tuple;
+        .each([Torque, Body, { target: [ChildOf, [Body]] }], (_entity, [torque, body, parentBody]) => {
         const bodyId = body?._bodyId ?? parentBody?._bodyId;
         if (bodyId === undefined) {
             return;
         }
-        state.box2d.b2Body_ApplyTorque(bodyId, torque.value, torque.wake);
+        engine.box2d.b2Body_ApplyTorque(bodyId, torque.value, torque.wake);
     });
     torqueSystem.entity.add(PhysicsSystemTag);
 }

package/systems/forces.js.map

@@ -1 +1 @@
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+{"version":3,"file":"forces.js","sourceRoot":"","sources":["../../../../src/systems/forces.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,OAAO,EAA2B,MAAM,eAAe,CAAC;AAEjE,OAAO,EAAE,IAAI,EAAE,MAAM,uBAAuB,CAAC;AAC7C,OAAO,EAAE,KAAK,EAAE,MAAM,EAAE,MAAM,wBAAwB,CAAC;AACvD,OAAO,EAAE,UAAU,EAAE,MAAM,uBAAuB,CAAC;AACnD,OAAO,EAAE,gBAAgB,EAAsB,MAAM,sBAAsB,CAAC;AAE5E,MAAM,oBAAoB,GAAG,EAAE,GAAG,EAAE,CAAC,IAAI,EAAE,EAAE,MAAM,EAAE,IAAI,EAAE,CAAC,EAAW,CAAC;AAExE,MAAM,UAAU,kBAAkB,CAAC,KAAY,EAAE,MAAqB,EAAE,KAAa;IACnF,MAAM,WAAW,GAAG,KAAK;SACtB,MAAM,CAAC,0BAA0B,CAAC;SAClC,IAAI,CAAC,KAAK,EAAE,oBAAoB,CAAC;SACjC,KAAK,CAAC,KAAK,CAAC,CAAC;IAChB,WAAW,CAAC,MAAM,CAAC,GAAG,CAAC,gBAAgB,CAAC,CAAC;IAEzC,WAAW,CAAC,IAAI,CACd,CAAC,KAAK,EAAE,IAAI,EAAE,EAAE,MAAM,EAAE,CAAC,OAAO,EAAE,CAAC,IAAI,CAAC,CAAC,EAAE,CAAC,EAC5C,CAAC,OAAO,EAAE,CAAC,KAAK,EAAE,IAAI,EAAE,UAAU,CAAC,EAAE,EAAE;QACrC,MAAM,MAAM,GAAG,IAAI,EAAE,OAAO,IAAI,UAAU,EAAE,OAAO,CAAC;QACpD,IAAI,MAAM,KAAK,SAAS,EAAE,CAAC;YACzB,OAAO;QACT,CAAC;QAED,MAAM,GAAG,GAAG,UAAU,CAAC,CAAC,CAAC,CAAC;QAC1B,GAAG,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,CAAC;QAC1B,MAAM,CAAC,KAAK,CAAC,yBAAyB,CAAC,MAAM,EAAE,GAAG,EAAE,KAAK,CAAC,IAAI,CAAC,CAAC;IAClE,CAAC,CACF,CAAC;IAEF,MAAM,YAAY,GAAG,KAAK;SACvB,MAAM,CAAC,2BAA2B,CAAC;SACnC,IAAI,CAAC,MAAM,EAAE,oBAAoB,CAAC;SAClC,KAAK,CAAC,KAAK,CAAC;SACZ,IAAI,CAAC,CAAC,MAAM,EAAE,IAAI,EAAE,EAAE,MAAM,EAAE,CAAC,OAAO,EAAE,CAAC,IAAI,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,OAAO,EAAE,CAAC,MAAM,EAAE,IAAI,EAAE,UAAU,CAAC,EAAE,EAAE;QAC3F,MAAM,MAAM,GAAG,IAAI,EAAE,OAAO,IAAI,UAAU,EAAE,OAAO,CAAC;QACpD,IAAI,MAAM,KAAK,SAAS,EAAE,CAAC;YACzB,OAAO;QACT,CAAC;QAED,MAAM,CAAC,KAAK,CAAC,kBAAkB,CAAC,MAAM,EAAE,MAAM,CAAC,KAAK,EAAE,MAAM,CAAC,IAAI,CAAC,CAAC;IACrE,CAAC,CAAC,CAAC;IACL,YAAY,CAAC,MAAM,CAAC,GAAG,CAAC,gBAAgB,CAAC,CAAC;AAC5C,CAAC"}

package/systems/impulse_accumulate.d.ts

@@ -1,4 +1,4 @@
 import { type Entity, type World } from "@vworlds/vecs";
-import { type PhysicsState } from "../adapter/state.js";
-export declare function installImpulseAccumulate(world: World, state: PhysicsState, phase: Entity): void;
-export declare function registerImpulseHooks(world: World, state: PhysicsState): void;
+import { type PhysicsEngine } from "../adapter/engine.js";
+export declare function installImpulseAccumulate(world: World, engine: PhysicsEngine, phase: Entity): void;
+export declare function registerImpulseHooks(world: World, engine: PhysicsEngine): void;

package/systems/impulse_accumulate.js

@@ -1,24 +1,25 @@
 import { AngularImpulse, Impulse } from "../components/force.js";
-import { PhysicsSystemTag } from "../adapter/state.js";
+import { scr_b2Vec2 } from "../adapter/runtime.js";
+import { PhysicsSystemTag } from "../adapter/engine.js";
 import { resolveBodyId } from "../util/resolve_body.js";
-export function installImpulseAccumulate(world, state, phase) {
+export function installImpulseAccumulate(world, engine, phase) {
     const system = world
         .system("PhysicsImpulseAccumulate")
         .phase(phase)
         .run(() => {
-        drainLinearImpulses(state);
-        drainAngularImpulses(state);
+        drainLinearImpulses(engine);
+        drainAngularImpulses(engine);
     });
     system.entity.add(PhysicsSystemTag);
 }
-export function registerImpulseHooks(world, state) {
+export function registerImpulseHooks(world, engine) {
     world.component(Impulse).onSet((entity, impulse) => {
         const bodyId = resolveBodyId(entity);
         if (bodyId === undefined) {
             return;
         }
-        state.impulseEntitiesThisStep.add(entity.eid);
-        const accumulator = getLinearAccumulator(state, bodyId);
+        engine.impulseEntitiesThisStep.add(entity.eid);
+        const accumulator = getLinearAccumulator(engine, bodyId);
         accumulator.x += impulse.x;
         accumulator.y += impulse.y;
         accumulator.wake || (accumulator.wake = impulse.wake);
@@ -28,44 +29,45 @@ export function registerImpulseHooks(world, state) {
         if (bodyId === undefined) {
             return;
         }
-        state.impulseEntitiesThisStep.add(entity.eid);
-        const accumulator = getAngularAccumulator(state, bodyId);
+        engine.impulseEntitiesThisStep.add(entity.eid);
+        const accumulator = getAngularAccumulator(engine, bodyId);
         accumulator.value += impulse.value;
         accumulator.wake || (accumulator.wake = impulse.wake);
     });
 }
-function drainLinearImpulses(state) {
-    for (const [bodyId, impulse] of state.pendingLinearImpulse) {
-        if (!state.entityByBodyIndex.has(bodyId.index1)) {
+function drainLinearImpulses(engine) {
+    for (const [bodyId, impulse] of engine.pendingLinearImpulse) {
+        if (!engine.entityByBodyIndex.has(bodyId.index1)) {
             continue;
         }
-        state.scratchVec2.Set(impulse.x, impulse.y);
-        state.box2d.b2Body_ApplyLinearImpulseToCenter(bodyId, state.scratchVec2, impulse.wake);
+        const vec = scr_b2Vec2[0];
+        vec.Set(impulse.x, impulse.y);
+        engine.box2d.b2Body_ApplyLinearImpulseToCenter(bodyId, vec, impulse.wake);
     }
-    state.pendingLinearImpulse.clear();
+    engine.pendingLinearImpulse.clear();
 }
-function drainAngularImpulses(state) {
-    for (const [bodyId, impulse] of state.pendingAngularImpulse) {
-        if (!state.entityByBodyIndex.has(bodyId.index1)) {
+function drainAngularImpulses(engine) {
+    for (const [bodyId, impulse] of engine.pendingAngularImpulse) {
+        if (!engine.entityByBodyIndex.has(bodyId.index1)) {
             continue;
         }
-        state.box2d.b2Body_ApplyAngularImpulse(bodyId, impulse.value, impulse.wake);
+        engine.box2d.b2Body_ApplyAngularImpulse(bodyId, impulse.value, impulse.wake);
     }
-    state.pendingAngularImpulse.clear();
+    engine.pendingAngularImpulse.clear();
 }
-function getLinearAccumulator(state, bodyId) {
-    let accumulator = state.pendingLinearImpulse.get(bodyId);
+function getLinearAccumulator(engine, bodyId) {
+    let accumulator = engine.pendingLinearImpulse.get(bodyId);
     if (accumulator === undefined) {
         accumulator = { x: 0, y: 0, wake: false };
-        state.pendingLinearImpulse.set(bodyId, accumulator);
+        engine.pendingLinearImpulse.set(bodyId, accumulator);
     }
     return accumulator;
 }
-function getAngularAccumulator(state, bodyId) {
-    let accumulator = state.pendingAngularImpulse.get(bodyId);
+function getAngularAccumulator(engine, bodyId) {
+    let accumulator = engine.pendingAngularImpulse.get(bodyId);
     if (accumulator === undefined) {
         accumulator = { value: 0, wake: false };
-        state.pendingAngularImpulse.set(bodyId, accumulator);
+        engine.pendingAngularImpulse.set(bodyId, accumulator);
     }
     return accumulator;
 }

package/systems/impulse_accumulate.js.map

@@ -1 +1 @@
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+{"version":3,"file":"impulse_accumulate.js","sourceRoot":"","sources":["../../../../src/systems/impulse_accumulate.ts"],"names":[],"mappings":"AAEA,OAAO,EAAE,cAAc,EAAE,OAAO,EAAE,MAAM,wBAAwB,CAAC;AACjE,OAAO,EAAE,UAAU,EAAE,MAAM,uBAAuB,CAAC;AACnD,OAAO,EAAE,gBAAgB,EAAqC,MAAM,sBAAsB,CAAC;AAC3F,OAAO,EAAE,aAAa,EAAE,MAAM,yBAAyB,CAAC;AAKxD,MAAM,UAAU,wBAAwB,CAAC,KAAY,EAAE,MAAqB,EAAE,KAAa;IACzF,MAAM,MAAM,GAAG,KAAK;SACjB,MAAM,CAAC,0BAA0B,CAAC;SAClC,KAAK,CAAC,KAAK,CAAC;SACZ,GAAG,CAAC,GAAG,EAAE;QACR,mBAAmB,CAAC,MAAM,CAAC,CAAC;QAC5B,oBAAoB,CAAC,MAAM,CAAC,CAAC;IAC/B,CAAC,CAAC,CAAC;IACL,MAAM,CAAC,MAAM,CAAC,GAAG,CAAC,gBAAgB,CAAC,CAAC;AACtC,CAAC;AAED,MAAM,UAAU,oBAAoB,CAAC,KAAY,EAAE,MAAqB;IACtE,KAAK,CAAC,SAAS,CAAC,OAAO,CAAC,CAAC,KAAK,CAAC,CAAC,MAAM,EAAE,OAAO,EAAE,EAAE;QACjD,MAAM,MAAM,GAAG,aAAa,CAAC,MAAM,CAAC,CAAC;QACrC,IAAI,MAAM,KAAK,SAAS,EAAE,CAAC;YACzB,OAAO;QACT,CAAC;QAED,MAAM,CAAC,uBAAuB,CAAC,GAAG,CAAC,MAAM,CAAC,GAAG,CAAC,CAAC;QAC/C,MAAM,WAAW,GAAG,oBAAoB,CAAC,MAAM,EAAE,MAAM,CAAC,CAAC;QACzD,WAAW,CAAC,CAAC,IAAI,OAAO,CAAC,CAAC,CAAC;QAC3B,WAAW,CAAC,CAAC,IAAI,OAAO,CAAC,CAAC,CAAC;QAC3B,WAAW,CAAC,IAAI,KAAhB,WAAW,CAAC,IAAI,GAAK,OAAO,CAAC,IAAI,EAAC;IACpC,CAAC,CAAC,CAAC;IAEH,KAAK,CAAC,SAAS,CAAC,cAAc,CAAC,CAAC,KAAK,CAAC,CAAC,MAAM,EAAE,OAAO,EAAE,EAAE;QACxD,MAAM,MAAM,GAAG,aAAa,CAAC,MAAM,CAAC,CAAC;QACrC,IAAI,MAAM,KAAK,SAAS,EAAE,CAAC;YACzB,OAAO;QACT,CAAC;QAED,MAAM,CAAC,uBAAuB,CAAC,GAAG,CAAC,MAAM,CAAC,GAAG,CAAC,CAAC;QAC/C,MAAM,WAAW,GAAG,qBAAqB,CAAC,MAAM,EAAE,MAAM,CAAC,CAAC;QAC1D,WAAW,CAAC,KAAK,IAAI,OAAO,CAAC,KAAK,CAAC;QACnC,WAAW,CAAC,IAAI,KAAhB,WAAW,CAAC,IAAI,GAAK,OAAO,CAAC,IAAI,EAAC;IACpC,CAAC,CAAC,CAAC;AACL,CAAC;AAED,SAAS,mBAAmB,CAAC,MAAqB;IAChD,KAAK,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,IAAI,MAAM,CAAC,oBAAoB,EAAE,CAAC;QAC5D,IAAI,CAAC,MAAM,CAAC,iBAAiB,CAAC,GAAG,CAAC,MAAM,CAAC,MAAM,CAAC,EAAE,CAAC;YACjD,SAAS;QACX,CAAC;QACD,MAAM,GAAG,GAAG,UAAU,CAAC,CAAC,CAAC,CAAC;QAC1B,GAAG,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC,EAAE,OAAO,CAAC,CAAC,CAAC,CAAC;QAC9B,MAAM,CAAC,KAAK,CAAC,iCAAiC,CAAC,MAAM,EAAE,GAAG,EAAE,OAAO,CAAC,IAAI,CAAC,CAAC;IAC5E,CAAC;IACD,MAAM,CAAC,oBAAoB,CAAC,KAAK,EAAE,CAAC;AACtC,CAAC;AAED,SAAS,oBAAoB,CAAC,MAAqB;IACjD,KAAK,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,IAAI,MAAM,CAAC,qBAAqB,EAAE,CAAC;QAC7D,IAAI,CAAC,MAAM,CAAC,iBAAiB,CAAC,GAAG,CAAC,MAAM,CAAC,MAAM,CAAC,EAAE,CAAC;YACjD,SAAS;QACX,CAAC;QACD,MAAM,CAAC,KAAK,CAAC,0BAA0B,CAAC,MAAM,EAAE,OAAO,CAAC,KAAK,EAAE,OAAO,CAAC,IAAI,CAAC,CAAC;IAC/E,CAAC;IACD,MAAM,CAAC,qBAAqB,CAAC,KAAK,EAAE,CAAC;AACvC,CAAC;AAED,SAAS,oBAAoB,CAAC,MAAqB,EAAE,MAAgB;IACnE,IAAI,WAAW,GAAG,MAAM,CAAC,oBAAoB,CAAC,GAAG,CAAC,MAAM,CAAC,CAAC;IAC1D,IAAI,WAAW,KAAK,SAAS,EAAE,CAAC;QAC9B,WAAW,GAAG,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,IAAI,EAAE,KAAK,EAAE,CAAC;QAC1C,MAAM,CAAC,oBAAoB,CAAC,GAAG,CAAC,MAAM,EAAE,WAAW,CAAC,CAAC;IACvD,CAAC;IACD,OAAO,WAAW,CAAC;AACrB,CAAC;AAED,SAAS,qBAAqB,CAAC,MAAqB,EAAE,MAAgB;IACpE,IAAI,WAAW,GAAG,MAAM,CAAC,qBAAqB,CAAC,GAAG,CAAC,MAAM,CAAC,CAAC;IAC3D,IAAI,WAAW,KAAK,SAAS,EAAE,CAAC;QAC9B,WAAW,GAAG,EAAE,KAAK,EAAE,CAAC,EAAE,IAAI,EAAE,KAAK,EAAE,CAAC;QACxC,MAAM,CAAC,qBAAqB,CAAC,GAAG,CAAC,MAAM,EAAE,WAAW,CAAC,CAAC;IACxD,CAAC;IACD,OAAO,WAAW,CAAC;AACrB,CAAC"}

package/systems/impulse_zero.d.ts

@@ -1,3 +1,3 @@
 import { type Entity, type World } from "@vworlds/vecs";
-import { type PhysicsState } from "../adapter/state.js";
-export declare function installImpulseZero(world: World, state: PhysicsState, phase: Entity): void;
+import { type PhysicsEngine } from "../adapter/engine.js";
+export declare function installImpulseZero(world: World, engine: PhysicsEngine, phase: Entity): void;

package/systems/impulse_zero.js

@@ -1,11 +1,11 @@
 import { AngularImpulse, Impulse } from "../components/force.js";
-import { PhysicsSystemTag } from "../adapter/state.js";
-export function installImpulseZero(world, state, phase) {
+import { PhysicsSystemTag } from "../adapter/engine.js";
+export function installImpulseZero(world, engine, phase) {
     const system = world
         .system("PhysicsImpulseZero")
         .phase(phase)
         .run(() => {
-        for (const eid of state.impulseEntitiesThisStep) {
+        for (const eid of engine.impulseEntitiesThisStep) {
             const entity = world.getEntity(eid);
             if (entity === undefined) {
                 continue;
@@ -20,7 +20,7 @@ export function installImpulseZero(world, state, phase) {
                 ai.value = 0;
             }
         }
-        state.impulseEntitiesThisStep.clear();
+        engine.impulseEntitiesThisStep.clear();
     });
     system.entity.add(PhysicsSystemTag);
 }

package/systems/impulse_zero.js.map

@@ -1 +1 @@
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+{"version":3,"file":"impulse_zero.js","sourceRoot":"","sources":["../../../../src/systems/impulse_zero.ts"],"names":[],"mappings":"AAEA,OAAO,EAAE,cAAc,EAAE,OAAO,EAAE,MAAM,wBAAwB,CAAC;AACjE,OAAO,EAAE,gBAAgB,EAAsB,MAAM,sBAAsB,CAAC;AAE5E,MAAM,UAAU,kBAAkB,CAAC,KAAY,EAAE,MAAqB,EAAE,KAAa;IACnF,MAAM,MAAM,GAAG,KAAK;SACjB,MAAM,CAAC,oBAAoB,CAAC;SAC5B,KAAK,CAAC,KAAK,CAAC;SACZ,GAAG,CAAC,GAAG,EAAE;QACR,KAAK,MAAM,GAAG,IAAI,MAAM,CAAC,uBAAuB,EAAE,CAAC;YACjD,MAAM,MAAM,GAAG,KAAK,CAAC,SAAS,CAAC,GAAG,CAAC,CAAC;YACpC,IAAI,MAAM,KAAK,SAAS,EAAE,CAAC;gBACzB,SAAS;YACX,CAAC;YAED,MAAM,GAAG,GAAG,MAAM,CAAC,GAAG,CAAC,OAAO,CAAwB,CAAC;YACvD,IAAI,GAAG,KAAK,SAAS,EAAE,CAAC;gBACtB,GAAG,CAAC,CAAC,GAAG,CAAC,CAAC;gBACV,GAAG,CAAC,CAAC,GAAG,CAAC,CAAC;YACZ,CAAC;YAED,MAAM,EAAE,GAAG,MAAM,CAAC,GAAG,CAAC,cAAc,CAA+B,CAAC;YACpE,IAAI,EAAE,KAAK,SAAS,EAAE,CAAC;gBACrB,EAAE,CAAC,KAAK,GAAG,CAAC,CAAC;YACf,CAAC;QACH,CAAC;QAED,MAAM,CAAC,uBAAuB,CAAC,KAAK,EAAE,CAAC;IACzC,CAAC,CAAC,CAAC;IACL,MAAM,CAAC,MAAM,CAAC,GAAG,CAAC,gBAAgB,CAAC,CAAC;AACtC,CAAC"}

package/systems/index.d.ts

@@ -1,5 +1,5 @@
 import { type Entity, type World } from "@vworlds/vecs";
-import { type PhysicsState } from "../adapter/state.js";
+import { type PhysicsEngine } from "../adapter/engine.js";
 /** The three phases the physics systems split across. */
 export interface PhysicsPhases {
     preStep: Entity;
@@ -11,5 +11,5 @@ export interface PhysicsSystemsOptions {
     /** Install `PhysicsDebugValidation` when `true`. Default `false`. */
     debug?: boolean;
 }
-/** Register every physics system into `world`, bound to `state`. */
-export declare function registerPhysicsSystems(world: World, state: PhysicsState, phases: PhysicsPhases, opts?: PhysicsSystemsOptions): void;
+/** Register every physics system into `world`, bound to `engine`. */
+export declare function registerPhysicsSystems(world: World, engine: PhysicsEngine, phases: PhysicsPhases, opts?: PhysicsSystemsOptions): void;

package/systems/index.js

@@ -1,26 +1,28 @@
 // Physics system installation. Creates all physics systems in their canonical
 // run order and tags each one with `PhysicsSystemTag` so the pose-sync feedback
 // suppression (`PhysicsPoseSyncIn.ignoreSource([PhysicsSystemTag])`) can filter
-// the engine's own write-back. This is registration step 12 (PLAN.md →
+// the engine's own write-back. This is registration step 12 (ARCHITECTURE.md →
 // _Component registration order_).
 //
 // Physics-pre phase order (creation order = run order within a phase):
 //   1. PhysicsBodyLifecycle      — body must exist before any shape is inserted
-//   2. PhysicsShapeLifecycle     — creates/destroys shape records + broad-phase proxies
-//   3. PhysicsMaterialFilterSync — propagates Material/Filter/Sensor updates
-//   4. PhysicsEventOptInSync     — runtime ContactEvents/HitEvents/SensorEvents add/remove (hooks)
-//   5. PhysicsShapePoseSync      — propagates ShapePosition/ShapeRotation updates
-//   6. PhysicsPoseSyncIn         — syncs Position/Rotation/Velocity into body sims
-//   7. PhysicsKinematicTargets   — sets target-convergence velocity on kinematic bodies (VP-20)
-//   8. PhysicsForceGather:*      — applies Force and Torque to body sims each step (VP-19)
-//   9. PhysicsImpulseAccumulate  — drains Impulse/AngularImpulse into pendingImpulses (VP-19)
-//  10. PhysicsMassRecompute      — recomputes mass for dirty bodies (last pre-step)
-//  11. PhysicsDebugValidation    — structural validation (ONLY when debug: true, VP-25)
+//   2. PhysicsShapeLifecycle     — creates/destroys b2Shape records + broad-phase proxies
+//   3. PhysicsChainLifecycle     — creates/destroys b2Chain records + segment proxies
+//   4. PhysicsMaterialFilterSync — propagates Material/Filter/Sensor updates
+//   5. PhysicsEventOptInSync     — runtime ContactEvents/HitEvents/SensorEvents add/remove (hooks)
+//   6. PhysicsShapePoseSync      — propagates ShapePosition/ShapeRotation updates
+//   7. PhysicsPoseSyncIn         — syncs Position/Rotation/Velocity into body sims
+//   8. PhysicsKinematicTargets   — sets target-convergence velocity on kinematic bodies (VP-20)
+//   9. PhysicsForceGather:*      — applies Force and Torque to body sims each step (VP-19)
+//  10. PhysicsImpulseAccumulate  — drains Impulse/AngularImpulse into pendingImpulses (VP-19)
+//  11. PhysicsMassRecompute      — recomputes mass for dirty bodies (last pre-step)
+//  12. PhysicsDebugValidation    — structural validation (ONLY when debug: true, VP-25)
 //
 // Physics-post phase order:
 //   1. PhysicsPoseSyncOut  — write simulated pose back to ECS
 //   2. PhysicsEvents       — fan raw event arrays out to ContactEvents/SensorEvents/HitEvents (VP-21b)
 //   3. PhysicsImpulseZero  — silently zero consumed Impulse/AngularImpulse (VP-19)
+import { installChainLifecycle } from "./chain_lifecycle.js";
 import { installDebugValidation } from "./debug.js";
 import { installEventOptInSync } from "./event_opt_in_sync.js";
 import { installEvents } from "./events.js";
@@ -36,37 +38,38 @@ import { installPoseSyncOut } from "./pose_sync_out.js";
 import { installShapeLifecycle } from "./shape_lifecycle.js";
 import { installShapePoseSync } from "./shape_pose_sync.js";
 import { installStep } from "./step.js";
-/** Register every physics system into `world`, bound to `state`. */
-export function registerPhysicsSystems(world, state, phases, opts = {}) {
+/** Register every physics system into `world`, bound to `engine`. */
+export function registerPhysicsSystems(world, engine, phases, opts = {}) {
     // physics-pre: lifecycle + sync systems in dependency order.
-    installBodyLifecycle(world, state, phases.preStep);
-    installShapeLifecycle(world, state, phases.preStep);
-    installMaterialFilterSync(world, state, phases.preStep);
+    installBodyLifecycle(world, engine, phases.preStep);
+    installShapeLifecycle(world, engine, phases.preStep);
+    installChainLifecycle(world, engine, phases.preStep);
+    installMaterialFilterSync(world, engine, phases.preStep);
     // physics-pre: keep event opt-in flags in sync when ContactEvents/HitEvents/
     // SensorEvents are added/removed on a shape after creation (hook-based).
-    installEventOptInSync(world, state, phases.preStep);
-    installShapePoseSync(world, state, phases.preStep);
-    installPoseSyncIn(world, state, phases.preStep);
+    installEventOptInSync(world, engine, phases.preStep);
+    installShapePoseSync(world, engine, phases.preStep);
+    installPoseSyncIn(world, engine, phases.preStep);
     // physics-pre: kinematic target drive after PoseSyncIn, before ForceGather (VP-20).
-    installKinematicTargets(world, state, phases.preStep);
+    installKinematicTargets(world, engine, phases.preStep);
     // physics-pre: force/impulse systems after KinematicTargets, before MassRecompute (VP-19).
-    installForceGather(world, state, phases.preStep);
-    installImpulseAccumulate(world, state, phases.preStep);
+    installForceGather(world, engine, phases.preStep);
+    installImpulseAccumulate(world, engine, phases.preStep);
     // physics-pre: mass recompute — last pre-step, after all lifecycle/sync/force.
-    installMassRecompute(world, state, phases.preStep);
+    installMassRecompute(world, engine, phases.preStep);
     // physics-step: integrator.
-    installStep(world, state, phases.step);
+    installStep(world, engine, phases.step);
     // physics-post: write simulated pose back to ECS.
-    installPoseSyncOut(world, state, phases.postStep);
+    installPoseSyncOut(world, engine, phases.postStep);
     // physics-post: fan raw event arrays out to ECS event components (VP-21b).
     // Must run AFTER PoseSyncOut (so positions are up to date) and BEFORE ImpulseZero.
-    installEvents(world, state, phases.postStep);
+    installEvents(world, engine, phases.postStep);
     // physics-post: silently zero consumed Impulse/AngularImpulse (last in post).
-    installImpulseZero(world, state, phases.postStep);
+    installImpulseZero(world, engine, phases.postStep);
     // physics-pre: debug validation — LAST in physics-pre, ONLY when debug: true.
     // Runs after all lifecycle/sync/mass so the world is fully wired for the step.
     if (opts.debug === true) {
-        installDebugValidation(world, state, phases.preStep);
+        installDebugValidation(world, engine, phases.preStep);
     }
 }
 //# sourceMappingURL=index.js.map

package/systems/index.js.map

@@ -1 +1 @@
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package/systems/kinematic.d.ts

@@ -1,3 +1,3 @@
 import { type Entity, type World } from "@vworlds/vecs";
-import { type PhysicsState } from "../adapter/state.js";
-export declare function installKinematicTargets(world: World, state: PhysicsState, phase: Entity): void;
+import { type PhysicsEngine } from "../adapter/engine.js";
+export declare function installKinematicTargets(world: World, engine: PhysicsEngine, phase: Entity): void;