@vworlds/vecs-physics 1.0.26 → 1.0.28

package/index.js

@@ -1,5 +1,5 @@
 // Public API surface for @vworlds/vecs-physics. Only re-exports — no logic.
-// The stable contract is documented in docs/ and architecture/PLAN.md →
+// The stable contract is documented in docs/ and architecture/ARCHITECTURE.md →
 // Public API Contract.
 // Entry point
 export { PhysicsModule } from "./module.js";
@@ -13,11 +13,13 @@ export { ShapePosition, ShapeRotation } from "./components/shape_pose.js";
 // Geometry
 export { Shape, Box, Circle, Capsule, Segment, Polygon, Chain, } from "./components/geometry.js";
 // Material / filter / sensor
-export { Material, CollisionFilter, Sensor } from "./components/material.js";
+export { Material, CollisionFilter, Sensor, Detectable } from "./components/material.js";
 // Forces & impulses
 export { Force, Torque, Impulse, AngularImpulse } from "./components/force.js";
 // Kinematic targets
 export { KinematicTargetPosition, KinematicTargetRotation } from "./components/target.js";
 // Events
 export { ContactEvents, SensorEvents, HitEvents, } from "./components/events.js";
+// Queries
+export { physics } from "./adapter/queries.js";
 //# sourceMappingURL=index.js.map

package/index.js.map

@@ -1 +1 @@
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package/module.js

@@ -3,22 +3,22 @@
 // (mutually exclusive: setting one evicts any previous geometry), ensures the
 // three physics phases exist, creates the Box2D world, installs the physics
 // systems (each tagged with `PhysicsSystemTag`), and attaches the private
-// `PhysicsState`.
+// `PhysicsEngine`.
 //
 // Registration order matters: Vecs assigns component type ids in registration
 // order, so keeping the order stable keeps ids deterministic across worlds.
 import { Implements, insertPhaseAfter, Module, ON_UPDATE, Phase, } from "@vworlds/vecs";
 import { AngularVelocity, Body, LinearVelocity, Position, Rotation } from "./components/body.js";
 import { Damping, GravityScale, MotionLocks, Sleep } from "./components/body_tuning.js";
-import { Box, Capsule, Chain, Circle, Polygon, Segment, Shape } from "./components/geometry.js";
+import { Box, Capsule, Chain, Circle, Polygon, Segment, Shape, SingleShape, } from "./components/geometry.js";
 import { AngularImpulse, Force, Impulse, Torque } from "./components/force.js";
-import { CollisionFilter, Material, Sensor } from "./components/material.js";
+import { CollisionFilter, Detectable, Material, Sensor } from "./components/material.js";
 import { ContactEvents, HitEvents, SensorEvents } from "./components/events.js";
 import { KinematicTargetPosition, KinematicTargetRotation } from "./components/target.js";
 import { ShapePosition, ShapeRotation } from "./components/shape_pose.js";
 import { getBox2D } from "./adapter/runtime.js";
 import { withAllocated } from "./adapter/disposal.js";
-import { attachPhysics, hasPhysics, PhysicsState, registerInternalComponents, } from "./adapter/state.js";
+import { attachPhysicsEngine, hasPhysicsEngine, PhysicsEngine, registerInternalComponents, } from "./adapter/engine.js";
 import { registerImpulseHooks } from "./systems/impulse_accumulate.js";
 import { registerPhysicsSystems } from "./systems/index.js";
 const DEFAULT_PRE_STEP_PHASE = "physics-pre";
@@ -31,7 +31,7 @@ export class PhysicsModule extends Module {
     }
 }
 function registerPhysics(world, opts) {
-    if (hasPhysics(world)) {
+    if (hasPhysicsEngine(world)) {
         throw new Error("PhysicsModule has already been registered on this world");
     }
     // 1. Register every public component, in a stable order (see file header).
@@ -48,6 +48,7 @@ function registerPhysics(world, opts) {
     world.component(ShapePosition);
     world.component(ShapeRotation);
     world.component(Shape);
+    world.component(SingleShape);
     world.component(Box);
     world.component(Circle);
     world.component(Capsule);
@@ -57,6 +58,7 @@ function registerPhysics(world, opts) {
     world.component(Material);
     world.component(CollisionFilter);
     world.component(Sensor);
+    world.component(Detectable);
     world.component(Force);
     world.component(Torque);
     world.component(Impulse);
@@ -66,17 +68,18 @@ function registerPhysics(world, opts) {
     world.component(ContactEvents);
     world.component(SensorEvents);
     world.component(HitEvents);
-    // 2. Internal, non-exported components (`PhysicsRoot`, `PhysicsSystemTag`),
+    // 2. Internal, non-exported components (`PhysicsEngine`, `PhysicsSystemTag`),
     //    registered in their documented order for deterministic type ids.
     registerInternalComponents(world);
-    // 3. Geometry components all implement `Shape`: queries/systems can match
-    //    `Shape` without enumerating every concrete type, and `Implements`
-    //    enforces mutual exclusivity (setting one evicts any previous geometry).
-    world.component(Box).set(Implements, { interfaces: [Shape] });
-    world.component(Circle).set(Implements, { interfaces: [Shape] });
-    world.component(Capsule).set(Implements, { interfaces: [Shape] });
-    world.component(Segment).set(Implements, { interfaces: [Shape] });
-    world.component(Polygon).set(Implements, { interfaces: [Shape] });
+    // 3. Geometry components implement `Shape` through either the internal
+    //    `SingleShape` tier or Chain's direct umbrella implementation. This keeps
+    //    geometry exclusivity while letting b2Shape-only systems query only singles.
+    world.component(SingleShape).set(Implements, { interfaces: [Shape] });
+    world.component(Box).set(Implements, { interfaces: [SingleShape] });
+    world.component(Circle).set(Implements, { interfaces: [SingleShape] });
+    world.component(Capsule).set(Implements, { interfaces: [SingleShape] });
+    world.component(Segment).set(Implements, { interfaces: [SingleShape] });
+    world.component(Polygon).set(Implements, { interfaces: [SingleShape] });
     world.component(Chain).set(Implements, { interfaces: [Shape] });
     // 4. Ensure the three physics phase entities exist and are ordered after update.
     const preStep = resolvePhase(world, opts.preStepPhase, DEFAULT_PRE_STEP_PHASE);
@@ -86,20 +89,20 @@ function registerPhysics(world, opts) {
     insertPhaseAfter(preStep, updatePhase);
     insertPhaseAfter(step, preStep);
     insertPhaseAfter(postStep, step);
-    // 5. Allocate WASM state, create the Box2D world, register the systems (bound
+    // 5. Allocate WASM engine, create the Box2D world, register the systems (bound
     //    to it), then attach it.
     const box2d = getBox2D();
     const options = resolveOptions(opts);
-    const state = new PhysicsState(box2d, options, opts.debugSink);
-    state.worldId = createWorldId(state, options);
-    registerImpulseHooks(world, state);
-    registerPhysicsSystems(world, state, { preStep, step, postStep }, {
+    const engine = new PhysicsEngine(box2d, options, opts.debugSink);
+    engine.worldId = createWorldId(engine, options);
+    registerImpulseHooks(world, engine);
+    registerPhysicsSystems(world, engine, { preStep, step, postStep }, {
         debug: opts.debug ?? false,
     });
-    attachPhysics(world, state);
+    attachPhysicsEngine(world, engine);
 }
-function createWorldId(state, options) {
-    const box2d = state.box2d;
+function createWorldId(engine, options) {
+    const box2d = engine.box2d;
     return withAllocated(box2d.b2DefaultWorldDef, (def) => {
         def.gravity.x = options.gravityX;
         def.gravity.y = options.gravityY;

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package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@vworlds/vecs-physics",
-  "version": "1.0.26",
+  "version": "1.0.28",
   "type": "module",
   "main": "./index.js",
   "types": "./index.d.ts",
@@ -15,7 +15,7 @@
     "url": "git+https://github.com/vworlds/vecs.git"
   },
   "dependencies": {
-    "@vworlds/vecs": "1.0.26",
+    "@vworlds/vecs": "1.0.28",
     "box2d3-wasm": "^5.2.0"
   },
   "license": "MIT"

package/systems/chain_lifecycle.d.ts

@@ -0,0 +1,6 @@
+import { type Entity, type World } from "@vworlds/vecs";
+import { Body } from "../components/body.js";
+import { Chain } from "../components/geometry.js";
+import { type PhysicsEngine } from "../adapter/engine.js";
+export declare function installChainLifecycle(world: World, engine: PhysicsEngine, phase: Entity): void;
+export declare function recreateChainForEntity(engine: PhysicsEngine, entity: Entity, parentEntity: Entity | undefined, parentBody: Body | undefined, chain: Chain | undefined): void;

package/systems/chain_lifecycle.js

@@ -0,0 +1,102 @@
+import { ChildOf, Iter } from "@vworlds/vecs";
+import { Body } from "../components/body.js";
+import { Chain } from "../components/geometry.js";
+import { PhysicsSystemTag } from "../adapter/engine.js";
+import { withAllocated } from "../adapter/disposal.js";
+import { chainWithBodyParent } from "./shape_predicates.js";
+import { applyChainDef, markParentBodyMassDirty, parentBodyStillExists, readLocalPose, readShapeOptions, } from "./shape_lifecycle.js";
+export function installChainLifecycle(world, engine, phase) {
+    const system = world.system("PhysicsChainLifecycle").with(chainWithBodyParent).phase(phase);
+    system.entity.add(PhysicsSystemTag);
+    system.enter(Iter, [Chain, { target: [ChildOf, [Body]] }], (it, [chain, body]) => {
+        createChainForEntity(engine, it.entity, it.src[1], body, chain);
+    });
+    system.exit([ChildOf, Chain], (entity, [childOf, chain]) => {
+        destroyChainForEntity(engine, entity, true, childOf?.target, chain);
+    });
+    system.update(Iter, Chain, [{ target: [ChildOf, [Body]] }], (it, chain, [body]) => {
+        recreateChainForEntity(engine, it.entity, it.src[0], body, chain);
+    });
+    const childOfSystem = world
+        .system("PhysicsChainLifecycle:ChildOf")
+        .with(ChildOf, chainWithBodyParent)
+        .phase(phase)
+        .update(Iter, ChildOf, [Chain, { target: [ChildOf, [Body]] }], (it, _childOf, [chain, body]) => {
+        recreateChainForEntity(engine, it.entity, it.src[1], body, chain);
+    });
+    childOfSystem.entity.add(PhysicsSystemTag);
+}
+export function recreateChainForEntity(engine, entity, parentEntity, parentBody, chain) {
+    destroyChainForEntity(engine, entity, false, parentEntity, chain);
+    createChainForEntity(engine, entity, parentEntity, parentBody, chain);
+}
+function createChainForEntity(engine, entity, parentEntity, parentBody, chain) {
+    const bodyId = parentBody?._bodyId;
+    if (parentEntity === undefined || bodyId === undefined || chain === undefined) {
+        return;
+    }
+    createChain(engine, entity, parentEntity, bodyId, chain);
+}
+function destroyChainForEntity(engine, entity, allowCascadeSkip, parent, chain) {
+    const resolvedParent = parent ?? entity.parent;
+    const resolvedChain = chain ?? entity.get(Chain);
+    const chainId = resolvedChain?._chainId;
+    if (resolvedChain !== undefined) {
+        for (const index of resolvedChain._segmentIndices) {
+            engine.entityByShapeIndex.delete(index);
+        }
+        resolvedChain._segmentIndices.length = 0;
+    }
+    if (chainId === undefined) {
+        return;
+    }
+    const parentBodyExists = parentBodyStillExists(resolvedParent);
+    if ((!allowCascadeSkip || parentBodyExists) && engine.box2d.b2Chain_IsValid(chainId)) {
+        engine.box2d.b2DestroyChain(chainId);
+    }
+    markParentBodyMassDirty(engine, resolvedParent);
+    const mutableChain = entity.get(Chain);
+    if (mutableChain !== undefined) {
+        mutableChain._chainId = undefined;
+    }
+}
+function createChain(engine, entity, parent, bodyId, chain) {
+    if (chain.points.length < 4) {
+        return;
+    }
+    const box2d = engine.box2d;
+    const pose = readLocalPose(entity);
+    const cos = Math.cos(pose.angle);
+    const sin = Math.sin(pose.angle);
+    const points = chain.points.map((point) => new box2d.b2Vec2(point.x * cos - point.y * sin + pose.x, point.x * sin + point.y * cos + pose.y));
+    try {
+        const chainId = withAllocated(box2d.b2DefaultChainDef, (def) => {
+            applyChainDef(def, readShapeOptions(entity));
+            def.isLoop = chain.loop;
+            def.count = points.length;
+            def.SetPoints(points);
+            return box2d.b2CreateChain(bodyId, def);
+        });
+        chain._chainId = chainId;
+        registerChainSegments(engine, entity, chain);
+        markParentBodyMassDirty(engine, parent);
+    }
+    finally {
+        for (const point of points) {
+            point.delete();
+        }
+    }
+}
+function registerChainSegments(engine, entity, chain) {
+    const chainId = chain._chainId;
+    if (chainId === undefined) {
+        return;
+    }
+    const count = engine.box2d.b2Chain_GetSegmentCount(chainId);
+    const segments = engine.box2d.b2Chain_GetSegments(chainId, count);
+    for (const segment of segments) {
+        engine.entityByShapeIndex.set(segment.index1, entity.eid);
+        chain._segmentIndices.push(segment.index1);
+    }
+}
+//# sourceMappingURL=chain_lifecycle.js.map

package/systems/chain_lifecycle.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"chain_lifecycle.js","sourceRoot":"","sources":["../../../../src/systems/chain_lifecycle.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,OAAO,EAAE,IAAI,EAA2B,MAAM,eAAe,CAAC;AAEvE,OAAO,EAAE,IAAI,EAAE,MAAM,uBAAuB,CAAC;AAC7C,OAAO,EAAE,KAAK,EAAE,MAAM,2BAA2B,CAAC;AAClD,OAAO,EAAiB,gBAAgB,EAAsB,MAAM,sBAAsB,CAAC;AAC3F,OAAO,EAAE,aAAa,EAAE,MAAM,wBAAwB,CAAC;AACvD,OAAO,EAAE,mBAAmB,EAAE,MAAM,uBAAuB,CAAC;AAC5D,OAAO,EACL,aAAa,EACb,uBAAuB,EACvB,qBAAqB,EACrB,aAAa,EACb,gBAAgB,GACjB,MAAM,sBAAsB,CAAC;AAE9B,MAAM,UAAU,qBAAqB,CAAC,KAAY,EAAE,MAAqB,EAAE,KAAa;IACtF,MAAM,MAAM,GAAG,KAAK,CAAC,MAAM,CAAC,uBAAuB,CAAC,CAAC,IAAI,CAAC,mBAAmB,CAAC,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC;IAC5F,MAAM,CAAC,MAAM,CAAC,GAAG,CAAC,gBAAgB,CAAC,CAAC;IAEpC,MAAM,CAAC,KAAK,CAAC,IAAI,EAAE,CAAC,KAAK,EAAE,EAAE,MAAM,EAAE,CAAC,OAAO,EAAE,CAAC,IAAI,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC,KAAK,EAAE,IAAI,CAAC,EAAE,EAAE;QAC/E,oBAAoB,CAAC,MAAM,EAAE,EAAE,CAAC,MAAM,EAAE,EAAE,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,IAAI,EAAE,KAAK,CAAC,CAAC;IAClE,CAAC,CAAC,CAAC;IAEH,MAAM,CAAC,IAAI,CAAC,CAAC,OAAO,EAAE,KAAK,CAAC,EAAE,CAAC,MAAM,EAAE,CAAC,OAAO,EAAE,KAAK,CAAC,EAAE,EAAE;QACzD,qBAAqB,CAAC,MAAM,EAAE,MAAM,EAAE,IAAI,EAAE,OAAO,EAAE,MAAM,EAAE,KAAK,CAAC,CAAC;IACtE,CAAC,CAAC,CAAC;IAEH,MAAM,CAAC,MAAM,CAAC,IAAI,EAAE,KAAK,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,OAAO,EAAE,CAAC,IAAI,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,EAAE,KAAK,EAAE,CAAC,IAAI,CAAC,EAAE,EAAE;QAChF,sBAAsB,CAAC,MAAM,EAAE,EAAE,CAAC,MAAM,EAAE,EAAE,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,IAAI,EAAE,KAAK,CAAC,CAAC;IACpE,CAAC,CAAC,CAAC;IAEH,MAAM,aAAa,GAAG,KAAK;SACxB,MAAM,CAAC,+BAA+B,CAAC;SACvC,IAAI,CAAC,OAAO,EAAE,mBAAmB,CAAC;SAClC,KAAK,CAAC,KAAK,CAAC;SACZ,MAAM,CACL,IAAI,EACJ,OAAO,EACP,CAAC,KAAK,EAAE,EAAE,MAAM,EAAE,CAAC,OAAO,EAAE,CAAC,IAAI,CAAC,CAAC,EAAE,CAAC,EACtC,CAAC,EAAE,EAAE,QAAQ,EAAE,CAAC,KAAK,EAAE,IAAI,CAAC,EAAE,EAAE;QAC9B,sBAAsB,CAAC,MAAM,EAAE,EAAE,CAAC,MAAM,EAAE,EAAE,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,IAAI,EAAE,KAAK,CAAC,CAAC;IACpE,CAAC,CACF,CAAC;IACJ,aAAa,CAAC,MAAM,CAAC,GAAG,CAAC,gBAAgB,CAAC,CAAC;AAC7C,CAAC;AAED,MAAM,UAAU,sBAAsB,CACpC,MAAqB,EACrB,MAAc,EACd,YAAgC,EAChC,UAA4B,EAC5B,KAAwB;IAExB,qBAAqB,CAAC,MAAM,EAAE,MAAM,EAAE,KAAK,EAAE,YAAY,EAAE,KAAK,CAAC,CAAC;IAClE,oBAAoB,CAAC,MAAM,EAAE,MAAM,EAAE,YAAY,EAAE,UAAU,EAAE,KAAK,CAAC,CAAC;AACxE,CAAC;AAED,SAAS,oBAAoB,CAC3B,MAAqB,EACrB,MAAc,EACd,YAAgC,EAChC,UAA4B,EAC5B,KAAwB;IAExB,MAAM,MAAM,GAAG,UAAU,EAAE,OAAO,CAAC;IACnC,IAAI,YAAY,KAAK,SAAS,IAAI,MAAM,KAAK,SAAS,IAAI,KAAK,KAAK,SAAS,EAAE,CAAC;QAC9E,OAAO;IACT,CAAC;IACD,WAAW,CAAC,MAAM,EAAE,MAAM,EAAE,YAAY,EAAE,MAAM,EAAE,KAAK,CAAC,CAAC;AAC3D,CAAC;AAED,SAAS,qBAAqB,CAC5B,MAAqB,EACrB,MAAc,EACd,gBAAyB,EACzB,MAAe,EACf,KAAuB;IAEvB,MAAM,cAAc,GAAG,MAAM,IAAI,MAAM,CAAC,MAAM,CAAC;IAC/C,MAAM,aAAa,GAAG,KAAK,IAAI,MAAM,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC;IACjD,MAAM,OAAO,GAAG,aAAa,EAAE,QAAQ,CAAC;IACxC,IAAI,aAAa,KAAK,SAAS,EAAE,CAAC;QAChC,KAAK,MAAM,KAAK,IAAI,aAAa,CAAC,eAAe,EAAE,CAAC;YAClD,MAAM,CAAC,kBAAkB,CAAC,MAAM,CAAC,KAAK,CAAC,CAAC;QAC1C,CAAC;QACD,aAAa,CAAC,eAAe,CAAC,MAAM,GAAG,CAAC,CAAC;IAC3C,CAAC;IACD,IAAI,OAAO,KAAK,SAAS,EAAE,CAAC;QAC1B,OAAO;IACT,CAAC;IAED,MAAM,gBAAgB,GAAG,qBAAqB,CAAC,cAAc,CAAC,CAAC;IAC/D,IAAI,CAAC,CAAC,gBAAgB,IAAI,gBAAgB,CAAC,IAAI,MAAM,CAAC,KAAK,CAAC,eAAe,CAAC,OAAO,CAAC,EAAE,CAAC;QACrF,MAAM,CAAC,KAAK,CAAC,cAAc,CAAC,OAAO,CAAC,CAAC;IACvC,CAAC;IACD,uBAAuB,CAAC,MAAM,EAAE,cAAc,CAAC,CAAC;IAEhD,MAAM,YAAY,GAAG,MAAM,CAAC,GAAG,CAAC,KAAK,CAAsB,CAAC;IAC5D,IAAI,YAAY,KAAK,SAAS,EAAE,CAAC;QAC/B,YAAY,CAAC,QAAQ,GAAG,SAAS,CAAC;IACpC,CAAC;AACH,CAAC;AAED,SAAS,WAAW,CAClB,MAAqB,EACrB,MAAc,EACd,MAAc,EACd,MAAgB,EAChB,KAAY;IAEZ,IAAI,KAAK,CAAC,MAAM,CAAC,MAAM,GAAG,CAAC,EAAE,CAAC;QAC5B,OAAO;IACT,CAAC;IAED,MAAM,KAAK,GAAG,MAAM,CAAC,KAAK,CAAC;IAC3B,MAAM,IAAI,GAAG,aAAa,CAAC,MAAM,CAAC,CAAC;IACnC,MAAM,GAAG,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;IACjC,MAAM,GAAG,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;IACjC,MAAM,MAAM,GAAG,KAAK,CAAC,MAAM,CAAC,GAAG,CAC7B,CAAC,KAAK,EAAE,EAAE,CACR,IAAI,KAAK,CAAC,MAAM,CACd,KAAK,CAAC,CAAC,GAAG,GAAG,GAAG,KAAK,CAAC,CAAC,GAAG,GAAG,GAAG,IAAI,CAAC,CAAC,EACtC,KAAK,CAAC,CAAC,GAAG,GAAG,GAAG,KAAK,CAAC,CAAC,GAAG,GAAG,GAAG,IAAI,CAAC,CAAC,CACvC,CACJ,CAAC;IACF,IAAI,CAAC;QACH,MAAM,OAAO,GAAG,aAAa,CAAC,KAAK,CAAC,iBAAiB,EAAE,CAAC,GAAG,EAAE,EAAE;YAC7D,aAAa,CAAC,GAAG,EAAE,gBAAgB,CAAC,MAAM,CAAC,CAAC,CAAC;YAC7C,GAAG,CAAC,MAAM,GAAG,KAAK,CAAC,IAAI,CAAC;YACxB,GAAG,CAAC,KAAK,GAAG,MAAM,CAAC,MAAM,CAAC;YAC1B,GAAG,CAAC,SAAS,CAAC,MAAM,CAAC,CAAC;YACtB,OAAO,KAAK,CAAC,aAAa,CAAC,MAAM,EAAE,GAAG,CAAC,CAAC;QAC1C,CAAC,CAAC,CAAC;QACH,KAAK,CAAC,QAAQ,GAAG,OAAO,CAAC;QACzB,qBAAqB,CAAC,MAAM,EAAE,MAAM,EAAE,KAAK,CAAC,CAAC;QAC7C,uBAAuB,CAAC,MAAM,EAAE,MAAM,CAAC,CAAC;IAC1C,CAAC;YAAS,CAAC;QACT,KAAK,MAAM,KAAK,IAAI,MAAM,EAAE,CAAC;YAC3B,KAAK,CAAC,MAAM,EAAE,CAAC;QACjB,CAAC;IACH,CAAC;AACH,CAAC;AAED,SAAS,qBAAqB,CAAC,MAAqB,EAAE,MAAc,EAAE,KAAY;IAChF,MAAM,OAAO,GAAG,KAAK,CAAC,QAAQ,CAAC;IAC/B,IAAI,OAAO,KAAK,SAAS,EAAE,CAAC;QAC1B,OAAO;IACT,CAAC;IAED,MAAM,KAAK,GAAG,MAAM,CAAC,KAAK,CAAC,uBAAuB,CAAC,OAAO,CAAC,CAAC;IAC5D,MAAM,QAAQ,GAAG,MAAM,CAAC,KAAK,CAAC,mBAAmB,CAAC,OAAO,EAAE,KAAK,CAA8B,CAAC;IAC/F,KAAK,MAAM,OAAO,IAAI,QAAQ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package/systems/debug.d.ts

@@ -1,4 +1,4 @@
 import { type Entity, type World } from "@vworlds/vecs";
-import { type PhysicsState } from "../adapter/state.js";
+import { type PhysicsEngine } from "../adapter/engine.js";
 /** Create `PhysicsDebugValidation` on `world` in `phase`. */
-export declare function installDebugValidation(world: World, state: PhysicsState, phase: Entity): void;
+export declare function installDebugValidation(world: World, engine: PhysicsEngine, phase: Entity): void;

package/systems/debug.js

@@ -33,10 +33,10 @@
 //     intentionally trades hot-path structure for simple whole-world checks.
 //     An entity enters the relevant filter when it carries the matching
 //     component(s), and the validator re-checks it every step.
-//   - WarnDedupe instance is owned by PhysicsState (survives across systems).
+//   - WarnDedupe instance is owned by PhysicsEngine (survives across systems).
 //   - The injectable WarnSink in WarnDedupe is the test hook; pass it via
 //     PhysicsOptions.debugSink.
-//   - Does NOT modify any engine state — read-only pass.
+//   - Does NOT modify engine internals — read-only pass.
 //
 // Upstream docs: docs/debug-validation.md.
 // Polygon validity is checked via b2ComputeHull (box2d3-wasm); see isValidPolygon.
@@ -46,7 +46,7 @@ import { AngularImpulse, Force, Impulse, Torque } from "../components/force.js";
 import { Chain, Polygon, Shape } from "../components/geometry.js";
 import { Material } from "../components/material.js";
 import { ShapePosition, ShapeRotation } from "../components/shape_pose.js";
-import { PhysicsSystemTag } from "../adapter/state.js";
+import { PhysicsSystemTag } from "../adapter/engine.js";
 // ─── Issue codes ──────────────────────────────────────────────────────────────
 const CODE_SHAPE_WITHOUT_PARENT_BODY = "shape-without-parent-body";
 const CODE_DYNAMIC_BODY_WITHOUT_DENSITY = "dynamic-body-without-density";
@@ -57,7 +57,7 @@ const CODE_POSITION_ON_SHAPE_ENTITY = "position-on-shape-entity";
 const CODE_FORCE_WITHOUT_TARGET = "force-without-target";
 // ─── System factory ───────────────────────────────────────────────────────────
 /** Create `PhysicsDebugValidation` on `world` in `phase`. */
-export function installDebugValidation(world, state, phase) {
+export function installDebugValidation(world, engine, phase) {
     // ── Filters (non-reactive; walked every step) ─────────────────────────────
     // Geometry entities: any entity with at least one geometry component.
     const geomFilter = world.filter(Shape);
@@ -77,10 +77,10 @@ export function installDebugValidation(world, state, phase) {
         .system("PhysicsDebugValidation")
         .phase(phase)
         .run(() => {
-        _validateGeomEntities(state, geomFilter, state.warn);
-        _validateBodyEntities(geomFilter, bodyFilter, state.warn);
-        _validateBodyShapePositionEntities(bodyPoseFilter, prevBodyPoseEids, state.warn);
-        _validateForceEntities(forceFilter, state.warn);
+        _validateGeomEntities(engine, geomFilter, engine.warn);
+        _validateBodyEntities(geomFilter, bodyFilter, engine.warn);
+        _validateBodyShapePositionEntities(bodyPoseFilter, prevBodyPoseEids, engine.warn);
+        _validateForceEntities(forceFilter, engine.warn);
     });
     system.entity.add(PhysicsSystemTag);
 }
@@ -90,11 +90,11 @@ export function installDebugValidation(world, state, phase) {
  *   - chain-too-few-points      (code 3)
  *   - polygon-invalid           (code 4)
  *   - position-on-shape-entity  (code 6) */
-function _validateGeomEntities(state, geomFilter, dedupe) {
+function _validateGeomEntities(engine, geomFilter, dedupe) {
     geomFilter.forEach((e) => {
         const eid = e.eid;
         // ── shape-without-parent-body (code 1) ───────────────────────────────────
-        const parent = e.parent(ChildOf);
+        const parent = e.parent;
         const parentHasBody = parent !== undefined && parent.get(Body) !== undefined;
         if (!parentHasBody) {
             dedupe.warnOnce(eid, CODE_SHAPE_WITHOUT_PARENT_BODY, `Entity${eid} has geometry but its immediate parent does not have Body.`);
@@ -115,7 +115,7 @@ function _validateGeomEntities(state, geomFilter, dedupe) {
         // ── polygon-invalid (code 4) ─────────────────────────────────────────────
         const polygon = e.get(Polygon);
         if (polygon !== undefined) {
-            const valid = isValidPolygon(state, polygon.vertices);
+            const valid = isValidPolygon(engine, polygon.vertices);
             if (!valid) {
                 dedupe.warnOnce(eid, CODE_POLYGON_INVALID, `Entity${eid} has Polygon with invalid or non-convex vertices.`);
             }
@@ -140,15 +140,15 @@ function _validateGeomEntities(state, geomFilter, dedupe) {
  * A dynamic body must have at least one child shape with density > 0. Sensor
  * shapes count — Box2D parity skips only density === 0, not isSensor shapes.
  *
- * To find child shapes without engine-state access, we build a map of
+ * To find child shapes without engine-internal access, we build a map of
  * body-eid → geometry child entities by walking the geometry filter and checking
  * which have a direct Body parent. This is a read-only ECS walk with no
- * dependency on PhysicsState internals. */
+ * dependency on PhysicsEngine internals. */
 function _validateBodyEntities(geomFilter, bodyFilter, dedupe) {
     // Build a map: body-eid → list of geometry child entities (per this step).
     const geomChildrenByBody = new ArrayMap();
     geomFilter.forEach((e) => {
-        const parent = e.parent(ChildOf);
+        const parent = e.parent;
         if (parent === undefined || parent.get(Body) === undefined) {
             return;
         }
@@ -230,11 +230,11 @@ function _validateBodyShapePositionEntities(bodyPoseFilter, prevBodyPoseEids, de
  * Delegates to `b2ComputeHull` (WASM); a hull with count >= 3 is valid. Allocates
  * and frees temporary b2Vec2 objects via the WASM heap.
  */
-function isValidPolygon(state, vertices) {
+function isValidPolygon(engine, vertices) {
     if (vertices.length < 3) {
         return false;
     }
-    const box2d = state.box2d;
+    const box2d = engine.box2d;
     const points = vertices.map((v) => new box2d.b2Vec2(v.x, v.y));
     try {
         const hull = box2d.b2ComputeHull(points);
@@ -255,7 +255,7 @@ function isValidPolygon(state, vertices) {
 function _validateForceEntities(forceFilter, dedupe) {
     forceFilter.forEach((e) => {
         const eid = e.eid;
-        const parent = e.parent(ChildOf);
+        const parent = e.target(ChildOf);
         const hasTarget = e.get(Body) !== undefined || (parent !== undefined && parent.get(Body) !== undefined);
         if (!hasTarget) {
             dedupe.warnOnce(eid, CODE_FORCE_WITHOUT_TARGET, `Entity${eid} has Force/Torque/Impulse/AngularImpulse but no Body or immediate Body parent.`);

package/systems/debug.js.map

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

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

package/systems/event_opt_in_sync.js

@@ -1,43 +1,79 @@
-import { Chain, Shape } from "../components/geometry.js";
+import { ChildOf, Iter } from "@vworlds/vecs";
+import { Body } from "../components/body.js";
+import { Chain, SingleShape } from "../components/geometry.js";
 import { ContactEvents, HitEvents, SensorEvents } from "../components/events.js";
-import { PhysicsSystemTag } from "../adapter/state.js";
-export function installEventOptInSync(world, state, phase) {
-    world.component(ContactEvents).onAdd((entity) => setEventFlag(state, entity, "contact", true));
+import { Detectable } from "../components/material.js";
+import { PhysicsSystemTag } from "../adapter/engine.js";
+import { recreateChainForEntity } from "./chain_lifecycle.js";
+import { chainWithBodyParent } from "./shape_predicates.js";
+export function installEventOptInSync(world, engine, phase) {
+    world.component(ContactEvents).onAdd((entity) => setEventFlag(engine, entity, "contact", true));
     world
         .component(ContactEvents)
-        .onRemove((entity) => setEventFlag(state, entity, "contact", false));
-    world.component(HitEvents).onAdd((entity) => setEventFlag(state, entity, "hit", true));
-    world.component(HitEvents).onRemove((entity) => setEventFlag(state, entity, "hit", false));
-    world.component(SensorEvents).onAdd((entity) => setEventFlag(state, entity, "sensor", true));
-    world.component(SensorEvents).onRemove((entity) => setEventFlag(state, entity, "sensor", false));
-    const system = world
-        .system("PhysicsEventOptInSync")
+        .onRemove((entity) => setEventFlag(engine, entity, "contact", false));
+    world.component(HitEvents).onAdd((entity) => setEventFlag(engine, entity, "hit", true));
+    world.component(HitEvents).onRemove((entity) => setEventFlag(engine, entity, "hit", false));
+    // Sensor detection: enable if SensorEvents OR Detectable is present.
+    // Query only single b2Shape geometries; chains have no runtime sensor-event
+    // setter and are recreated by the chain opt-in system below.
+    const sensorSystem = world
+        .system("PhysicsEventOptInSync:Sensor")
+        .with({ all: [SingleShape, { any: [SensorEvents, Detectable] }] })
         .phase(phase)
-        .run(() => {
-        // Hook-driven: onAdd/onRemove do the work synchronously during command drain.
+        .enter([SingleShape], (_e, [shape]) => {
+        const shapeId = shape._shapeId;
+        if (shapeId !== undefined) {
+            engine.box2d.b2Shape_EnableSensorEvents(shapeId, true);
+        }
+    })
+        .exit([SingleShape], (_e, [shape]) => {
+        const shapeId = shape._shapeId;
+        // Stale shape-id guard. When a shape entity is destroyed, Box2D can recycle
+        // its shape-id slot to a shape created in the SAME frame. This exit's
+        // captured id keeps the old generation, but b2Shape_EnableSensorEvents does
+        // NOT validate the generation (unlike b2Shape_IsValid) -- it indexes by
+        // index1 and would clobber the live shape now occupying that slot, silently
+        // disabling sensor events on an unrelated, freshly-created shape. Match the
+        // validity guard already used in material_filter_sync.
+        if (shapeId !== undefined && engine.box2d.b2Shape_IsValid(shapeId)) {
+            engine.box2d.b2Shape_EnableSensorEvents(shapeId, false);
+        }
     });
-    system.entity.add(PhysicsSystemTag);
+    sensorSystem.entity.add(PhysicsSystemTag);
+    const chainSensorSystem = world
+        .system("PhysicsEventOptInSync:ChainSensor")
+        .with({ all: [Chain, { any: [SensorEvents, Detectable] }] }, chainWithBodyParent)
+        .phase(phase)
+        .enter(Iter, [Chain, { target: [ChildOf, [Body]] }], (it, [chain, body]) => {
+        recreateChainForEntity(engine, it.entity, it.src[1], body, chain);
+    })
+        .exit((entity) => {
+        const chain = entity.get(Chain);
+        const parent = entity.parent;
+        recreateChainForEntity(engine, entity, parent, parent?.get(Body), chain);
+    });
+    chainSensorSystem.entity.add(PhysicsSystemTag);
 }
-function setEventFlag(state, entity, flag, enabled) {
-    const shape = entity.get(Shape);
-    if (shape === undefined || shape instanceof Chain) {
-        return;
-    }
-    const shapeId = shape._shapeId;
-    if (shapeId !== undefined) {
-        applyEventFlag(state, shapeId, flag, enabled);
+function setEventFlag(engine, entity, flag, enabled) {
+    const shape = entity.get(SingleShape);
+    if (shape !== undefined) {
+        const shapeId = shape._shapeId;
+        // Same stale shape-id guard as the sensor exit: never write a contact/hit
+        // flag through a destroyed/recycled shape id. Box2D contact/hit setters do
+        // not validate the id generation, so a stale id would clobber whichever live
+        // shape recycled that slot.
+        if (shapeId !== undefined && engine.box2d.b2Shape_IsValid(shapeId)) {
+            applyEventFlag(engine, shapeId, flag, enabled);
+        }
     }
 }
-function applyEventFlag(state, shapeId, flag, enabled) {
+function applyEventFlag(engine, shapeId, flag, enabled) {
     switch (flag) {
         case "contact":
-            state.box2d.b2Shape_EnableContactEvents(shapeId, enabled);
+            engine.box2d.b2Shape_EnableContactEvents(shapeId, enabled);
             break;
         case "hit":
-            state.box2d.b2Shape_EnableHitEvents(shapeId, enabled);
-            break;
-        case "sensor":
-            state.box2d.b2Shape_EnableSensorEvents(shapeId, enabled);
+            engine.box2d.b2Shape_EnableHitEvents(shapeId, enabled);
             break;
     }
 }

package/systems/event_opt_in_sync.js.map

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package/systems/events.d.ts

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