@vworlds/vecs-physics 1.0.37 → 1.0.39

package/{systems/events.js → events/publish.js}

@@ -1,36 +1,45 @@
-import { ContactEvents, HitEvents, SensorEvents } from "../components/events.js";
-import { PhysicsSystemTag } from "../adapter/engine.js";
-export function installEvents(world, engine, phase) {
-    const system = world
-        .system("PhysicsEvents")
-        .phase(phase)
-        .run(() => {
-        const touchedContact = new Set();
-        const touchedSensor = new Set();
-        const touchedHit = new Set();
-        publishContactAndHitEvents(world, engine, touchedContact, touchedHit);
-        publishSensorEvents(world, engine, touchedSensor);
-        markModified(world, touchedContact, ContactEvents);
-        markModified(world, touchedSensor, SensorEvents);
-        markModified(world, touchedHit, HitEvents);
-        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) {
-            engine.prevTouchedContact.add(eid);
-        }
-        engine.prevTouchedSensor.clear();
-        for (const eid of touchedSensor) {
-            engine.prevTouchedSensor.add(eid);
-        }
-        engine.prevTouchedHit.clear();
-        for (const eid of touchedHit) {
-            engine.prevTouchedHit.add(eid);
-        }
-    });
-    system.entity.add(PhysicsSystemTag);
+import { Module } from "@vworlds/vecs";
+import { ContactEvents, HitEvents, SensorEvents } from "./components.js";
+import { getPhysicsEngine, PhysicsSystemTag } from "../adapter/engine.js";
+import { PhysicsCoreModule } from "../core/module.js";
+import { EventsModule } from "./module.js";
+export class EventPublishModule extends Module {
+    init() {
+        const world = this.world;
+        world.module(PhysicsCoreModule);
+        world.module(EventsModule);
+        const engine = getPhysicsEngine(world);
+        world
+            .system("PhysicsEvents")
+            .phase(engine.phases.postStep)
+            .run(() => {
+            const touchedContact = new Set();
+            const touchedSensor = new Set();
+            const touchedHit = new Set();
+            publishContactAndHitEvents(world, engine, touchedContact, touchedHit);
+            publishSensorEvents(world, engine, touchedSensor);
+            markModified(world, touchedContact, ContactEvents);
+            markModified(world, touchedSensor, SensorEvents);
+            markModified(world, touchedHit, HitEvents);
+            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) {
+                engine.prevTouchedContact.add(eid);
+            }
+            engine.prevTouchedSensor.clear();
+            for (const eid of touchedSensor) {
+                engine.prevTouchedSensor.add(eid);
+            }
+            engine.prevTouchedHit.clear();
+            for (const eid of touchedHit) {
+                engine.prevTouchedHit.add(eid);
+            }
+        })
+            .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
@@ -211,4 +220,4 @@ function deleteIfPresent(value) {
 function isDestroyed(entity) {
     return entity.destroyed;
 }
-//# sourceMappingURL=events.js.map
+//# sourceMappingURL=publish.js.map

package/events/publish.js.map

@@ -0,0 +1 @@
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package/{components/force.js → forces/components.js}

@@ -32,4 +32,4 @@ export class AngularImpulse {
         this.wake = true;
     }
 }
-//# sourceMappingURL=force.js.map
+//# sourceMappingURL=components.js.map

package/forces/components.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"components.js","sourceRoot":"","sources":["../../../../src/forces/components.ts"],"names":[],"mappings":"AAAA,+EAA+E;AAC/E,+EAA+E;AAC/E,iFAAiF;AACjF,8DAA8D;AAE9D,mCAAmC;AACnC,MAAM,OAAO,KAAK;IAAlB;QACE,MAAC,GAAG,CAAC,CAAC;QACN,MAAC,GAAG,CAAC,CAAC;QACN,SAAI,GAAG,IAAI,CAAC;IACd,CAAC;CAAA;AAED,yCAAyC;AACzC,MAAM,OAAO,MAAM;IAAnB;QACE,UAAK,GAAG,CAAC,CAAC;QACV,SAAI,GAAG,IAAI,CAAC;IACd,CAAC;CAAA;AAED,gFAAgF;AAChF,MAAM,OAAO,OAAO;IAApB;QACE,MAAC,GAAG,CAAC,CAAC;QACN,MAAC,GAAG,CAAC,CAAC;QACN,SAAI,GAAG,IAAI,CAAC;IACd,CAAC;CAAA;AAED,+DAA+D;AAC/D,MAAM,OAAO,cAAc;IAA3B;QACE,UAAK,GAAG,CAAC,CAAC;QACV,SAAI,GAAG,IAAI,CAAC;IACd,CAAC;CAAA"}

package/forces/gather.d.ts

@@ -0,0 +1,4 @@
+import { Module } from "@vworlds/vecs";
+export declare class ForceGatherModule extends Module {
+    init(): void;
+}

package/forces/gather.js

@@ -0,0 +1,42 @@
+import { ChildOf, Module } from "@vworlds/vecs";
+import { getPhysicsEngine, PhysicsSystemTag } from "../adapter/engine.js";
+import { Body } from "../body/components.js";
+import { Force, Torque } from "./components.js";
+import { scr_b2Vec2 } from "../adapter/runtime.js";
+import { PhysicsCoreModule } from "../core/module.js";
+const forceTargetPredicate = { any: [Body, { parent: Body }] };
+export class ForceGatherModule extends Module {
+    init() {
+        const world = this.world;
+        world.module(PhysicsCoreModule);
+        const engine = getPhysicsEngine(world);
+        const phase = engine.phases.preStep;
+        world
+            .system("PhysicsForceGather:Force")
+            .with(Force, forceTargetPredicate)
+            .phase(phase)
+            .each([Force, Body, { target: [ChildOf, [Body]] }], (_entity, [force, body, parentBody]) => {
+            const bodyId = body?._bodyId ?? parentBody?._bodyId;
+            if (bodyId === undefined) {
+                return;
+            }
+            const vec = scr_b2Vec2[0];
+            vec.Set(force.x, force.y);
+            engine.box2d.b2Body_ApplyForceToCenter(bodyId, vec, force.wake);
+        })
+            .add(PhysicsSystemTag);
+        world
+            .system("PhysicsForceGather:Torque")
+            .with(Torque, forceTargetPredicate)
+            .phase(phase)
+            .each([Torque, Body, { target: [ChildOf, [Body]] }], (_entity, [torque, body, parentBody]) => {
+            const bodyId = body?._bodyId ?? parentBody?._bodyId;
+            if (bodyId === undefined) {
+                return;
+            }
+            engine.box2d.b2Body_ApplyTorque(bodyId, torque.value, torque.wake);
+        })
+            .add(PhysicsSystemTag);
+    }
+}
+//# sourceMappingURL=gather.js.map

package/forces/gather.js.map

@@ -0,0 +1 @@
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package/forces/impulses.d.ts

@@ -0,0 +1,4 @@
+import { Module } from "@vworlds/vecs";
+export declare class ImpulseAccumulateModule extends Module {
+    init(): void;
+}

package/forces/impulses.js

@@ -0,0 +1,79 @@
+import { Module } from "@vworlds/vecs";
+import { AngularImpulse, Impulse } from "./components.js";
+import { scr_b2Vec2 } from "../adapter/runtime.js";
+import { getPhysicsEngine, PhysicsSystemTag, } from "../adapter/engine.js";
+import { PhysicsCoreModule } from "../core/module.js";
+import { resolveBodyId } from "../util/resolve_body.js";
+export class ImpulseAccumulateModule extends Module {
+    init() {
+        const world = this.world;
+        world.module(PhysicsCoreModule);
+        const engine = getPhysicsEngine(world);
+        world.component(Impulse).onSet((entity, impulse) => {
+            const bodyId = resolveBodyId(entity);
+            if (bodyId === undefined) {
+                return;
+            }
+            engine.impulseEntitiesThisStep.add(entity.eid);
+            const accumulator = getLinearAccumulator(engine, bodyId);
+            accumulator.x += impulse.x;
+            accumulator.y += impulse.y;
+            accumulator.wake || (accumulator.wake = impulse.wake);
+        });
+        world.component(AngularImpulse).onSet((entity, impulse) => {
+            const bodyId = resolveBodyId(entity);
+            if (bodyId === undefined) {
+                return;
+            }
+            engine.impulseEntitiesThisStep.add(entity.eid);
+            const accumulator = getAngularAccumulator(engine, bodyId);
+            accumulator.value += impulse.value;
+            accumulator.wake || (accumulator.wake = impulse.wake);
+        });
+        world
+            .system("PhysicsImpulseAccumulate")
+            .phase(engine.phases.preStep)
+            .run(() => {
+            drainLinearImpulses(engine);
+            drainAngularImpulses(engine);
+        })
+            .add(PhysicsSystemTag);
+    }
+}
+function drainLinearImpulses(engine) {
+    for (const [bodyId, impulse] of engine.pendingLinearImpulse) {
+        if (!engine.entityByBodyIndex.has(bodyId.index1)) {
+            continue;
+        }
+        const vec = scr_b2Vec2[0];
+        vec.Set(impulse.x, impulse.y);
+        engine.box2d.b2Body_ApplyLinearImpulseToCenter(bodyId, vec, impulse.wake);
+    }
+    engine.pendingLinearImpulse.clear();
+}
+function drainAngularImpulses(engine) {
+    for (const [bodyId, impulse] of engine.pendingAngularImpulse) {
+        if (!engine.entityByBodyIndex.has(bodyId.index1)) {
+            continue;
+        }
+        engine.box2d.b2Body_ApplyAngularImpulse(bodyId, impulse.value, impulse.wake);
+    }
+    engine.pendingAngularImpulse.clear();
+}
+function getLinearAccumulator(engine, bodyId) {
+    let accumulator = engine.pendingLinearImpulse.get(bodyId);
+    if (accumulator === undefined) {
+        accumulator = { x: 0, y: 0, wake: false };
+        engine.pendingLinearImpulse.set(bodyId, accumulator);
+    }
+    return accumulator;
+}
+function getAngularAccumulator(engine, bodyId) {
+    let accumulator = engine.pendingAngularImpulse.get(bodyId);
+    if (accumulator === undefined) {
+        accumulator = { value: 0, wake: false };
+        engine.pendingAngularImpulse.set(bodyId, accumulator);
+    }
+    return accumulator;
+}
+//# sourceMappingURL=impulses.js.map

package/forces/impulses.js.map

@@ -0,0 +1 @@
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package/forces/module.d.ts

@@ -0,0 +1,4 @@
+import { Module } from "@vworlds/vecs";
+export declare class ForcesModule extends Module {
+    init(): void;
+}

package/forces/module.js

@@ -0,0 +1,20 @@
+import { Module } from "@vworlds/vecs";
+import { BodyModule } from "../body/module.js";
+import { PhysicsCoreModule } from "../core/module.js";
+import { AngularImpulse, Force, Impulse, Torque } from "./components.js";
+import { ForceGatherModule } from "./gather.js";
+import { ImpulseAccumulateModule } from "./impulses.js";
+export class ForcesModule extends Module {
+    init() {
+        const world = this.world;
+        world.module(PhysicsCoreModule);
+        world.module(BodyModule);
+        world.component(Force);
+        world.component(Torque);
+        world.component(Impulse);
+        world.component(AngularImpulse);
+        world.module(ForceGatherModule);
+        world.module(ImpulseAccumulateModule);
+    }
+}
+//# sourceMappingURL=module.js.map

package/forces/module.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"module.js","sourceRoot":"","sources":["../../../../src/forces/module.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,MAAM,EAAE,MAAM,eAAe,CAAC;AAEvC,OAAO,EAAE,UAAU,EAAE,MAAM,mBAAmB,CAAC;AAC/C,OAAO,EAAE,iBAAiB,EAAE,MAAM,mBAAmB,CAAC;AACtD,OAAO,EAAE,cAAc,EAAE,KAAK,EAAE,OAAO,EAAE,MAAM,EAAE,MAAM,iBAAiB,CAAC;AACzE,OAAO,EAAE,iBAAiB,EAAE,MAAM,aAAa,CAAC;AAChD,OAAO,EAAE,uBAAuB,EAAE,MAAM,eAAe,CAAC;AAExD,MAAM,OAAO,YAAa,SAAQ,MAAM;IAC/B,IAAI;QACT,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK,CAAC;QACzB,KAAK,CAAC,MAAM,CAAC,iBAAiB,CAAC,CAAC;QAChC,KAAK,CAAC,MAAM,CAAC,UAAU,CAAC,CAAC;QAEzB,KAAK,CAAC,SAAS,CAAC,KAAK,CAAC,CAAC;QACvB,KAAK,CAAC,SAAS,CAAC,MAAM,CAAC,CAAC;QACxB,KAAK,CAAC,SAAS,CAAC,OAAO,CAAC,CAAC;QACzB,KAAK,CAAC,SAAS,CAAC,cAAc,CAAC,CAAC;QAEhC,KAAK,CAAC,MAAM,CAAC,iBAAiB,CAAC,CAAC;QAChC,KAAK,CAAC,MAAM,CAAC,uBAAuB,CAAC,CAAC;IACxC,CAAC;CACF"}

package/forces/zero.d.ts

@@ -0,0 +1,4 @@
+import { Module } from "@vworlds/vecs";
+export declare class ImpulseZeroModule extends Module {
+    init(): void;
+}

package/forces/zero.js

@@ -0,0 +1,34 @@
+import { Module } from "@vworlds/vecs";
+import { getPhysicsEngine, PhysicsSystemTag } from "../adapter/engine.js";
+import { PhysicsCoreModule } from "../core/module.js";
+import { AngularImpulse, Impulse } from "./components.js";
+export class ImpulseZeroModule extends Module {
+    init() {
+        const world = this.world;
+        world.module(PhysicsCoreModule);
+        const engine = getPhysicsEngine(world);
+        world
+            .system("PhysicsImpulseZero")
+            .phase(engine.phases.postStep)
+            .run(() => {
+            for (const eid of engine.impulseEntitiesThisStep) {
+                const entity = world.getEntity(eid);
+                if (entity === undefined) {
+                    continue;
+                }
+                const imp = entity.get(Impulse);
+                if (imp !== undefined) {
+                    imp.x = 0;
+                    imp.y = 0;
+                }
+                const ai = entity.get(AngularImpulse);
+                if (ai !== undefined) {
+                    ai.value = 0;
+                }
+            }
+            engine.impulseEntitiesThisStep.clear();
+        })
+            .add(PhysicsSystemTag);
+    }
+}
+//# sourceMappingURL=zero.js.map

package/forces/zero.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"zero.js","sourceRoot":"","sources":["../../../../src/forces/zero.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,MAAM,EAAE,MAAM,eAAe,CAAC;AAEvC,OAAO,EAAE,gBAAgB,EAAE,gBAAgB,EAAE,MAAM,sBAAsB,CAAC;AAC1E,OAAO,EAAE,iBAAiB,EAAE,MAAM,mBAAmB,CAAC;AACtD,OAAO,EAAE,cAAc,EAAE,OAAO,EAAE,MAAM,iBAAiB,CAAC;AAE1D,MAAM,OAAO,iBAAkB,SAAQ,MAAM;IACpC,IAAI;QACT,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK,CAAC;QACzB,KAAK,CAAC,MAAM,CAAC,iBAAiB,CAAC,CAAC;QAEhC,MAAM,MAAM,GAAG,gBAAgB,CAAC,KAAK,CAAC,CAAC;QACvC,KAAK;aACF,MAAM,CAAC,oBAAoB,CAAC;aAC5B,KAAK,CAAC,MAAM,CAAC,MAAM,CAAC,QAAQ,CAAC;aAC7B,GAAG,CAAC,GAAG,EAAE;YACR,KAAK,MAAM,GAAG,IAAI,MAAM,CAAC,uBAAuB,EAAE,CAAC;gBACjD,MAAM,MAAM,GAAG,KAAK,CAAC,SAAS,CAAC,GAAG,CAAC,CAAC;gBACpC,IAAI,MAAM,KAAK,SAAS,EAAE,CAAC;oBACzB,SAAS;gBACX,CAAC;gBAED,MAAM,GAAG,GAAG,MAAM,CAAC,GAAG,CAAC,OAAO,CAAwB,CAAC;gBACvD,IAAI,GAAG,KAAK,SAAS,EAAE,CAAC;oBACtB,GAAG,CAAC,CAAC,GAAG,CAAC,CAAC;oBACV,GAAG,CAAC,CAAC,GAAG,CAAC,CAAC;gBACZ,CAAC;gBAED,MAAM,EAAE,GAAG,MAAM,CAAC,GAAG,CAAC,cAAc,CAA+B,CAAC;gBACpE,IAAI,EAAE,KAAK,SAAS,EAAE,CAAC;oBACrB,EAAE,CAAC,KAAK,GAAG,CAAC,CAAC;gBACf,CAAC;YACH,CAAC;YAED,MAAM,CAAC,uBAAuB,CAAC,KAAK,EAAE,CAAC;QACzC,CAAC,CAAC;aACD,GAAG,CAAC,gBAAgB,CAAC,CAAC;IAC3B,CAAC;CACF"}

package/index.d.ts

@@ -1,12 +1,13 @@
 export { PhysicsModule, type PhysicsOptions } from "./module.js";
 export { preloadPhysics } from "./adapter/runtime.js";
-export { Body, BodyType, Position, Rotation, LinearVelocity, AngularVelocity, } from "./components/body.js";
-export { Damping, GravityScale, MotionLocks, Sleep } from "./components/body_tuning.js";
-export { ShapePosition, ShapeRotation } from "./components/shape_pose.js";
-export { Shape, Box, Circle, Capsule, Segment, Polygon, Chain, type Vec2, } from "./components/geometry.js";
-export { Material, CollisionFilter, Sensor, Detectable } from "./components/material.js";
-export { Force, Torque, Impulse, AngularImpulse } from "./components/force.js";
-export { KinematicTargetPosition, KinematicTargetRotation } from "./components/target.js";
-export { ContactEvents, type ContactEvent, SensorEvents, type SensorEvent, HitEvents, type HitEvent, } from "./components/events.js";
+export { Body, BodyType, Position, Rotation, LinearVelocity, AngularVelocity, } from "./body/components.js";
+export { Damping, GravityScale, MotionLocks, Sleep } from "./body/tuning.js";
+export { ShapePosition, ShapeRotation } from "./shapes/pose_components.js";
+export { Shape, Box, Circle, Capsule, Segment, Polygon, Chain, type Vec2, } from "./shapes/components.js";
+export { Material, CollisionFilter, Sensor, Detectable } from "./materials/components.js";
+export { Force, Torque, Impulse, AngularImpulse } from "./forces/components.js";
+export { KinematicTargetPosition, KinematicTargetRotation } from "./kinematic/components.js";
+export { Joint, JointBodyA, JointBodyB, JointFrame, RevoluteJoint, DistanceJoint, WeldJoint, FilterJoint, JointMotor, JointLimit, JointLinearSpring, JointAngularSpring, JointSettings, } from "./joints/components.js";
+export { ContactEvents, type ContactEvent, SensorEvents, type SensorEvent, HitEvents, type HitEvent, } from "./events/components.js";
 export { physics } from "./adapter/queries.js";
 export type { PhysicsQueries, QueryFilter, RayHit } from "./adapter/queries.js";

package/index.js

@@ -5,21 +5,23 @@
 export { PhysicsModule } from "./module.js";
 export { preloadPhysics } from "./adapter/runtime.js";
 // Body
-export { Body, BodyType, Position, Rotation, LinearVelocity, AngularVelocity, } from "./components/body.js";
+export { Body, BodyType, Position, Rotation, LinearVelocity, AngularVelocity, } from "./body/components.js";
 // Body tunables
-export { Damping, GravityScale, MotionLocks, Sleep } from "./components/body_tuning.js";
+export { Damping, GravityScale, MotionLocks, Sleep } from "./body/tuning.js";
 // Shape pose
-export { ShapePosition, ShapeRotation } from "./components/shape_pose.js";
+export { ShapePosition, ShapeRotation } from "./shapes/pose_components.js";
 // Geometry
-export { Shape, Box, Circle, Capsule, Segment, Polygon, Chain, } from "./components/geometry.js";
+export { Shape, Box, Circle, Capsule, Segment, Polygon, Chain, } from "./shapes/components.js";
 // Material / filter / sensor
-export { Material, CollisionFilter, Sensor, Detectable } from "./components/material.js";
+export { Material, CollisionFilter, Sensor, Detectable } from "./materials/components.js";
 // Forces & impulses
-export { Force, Torque, Impulse, AngularImpulse } from "./components/force.js";
+export { Force, Torque, Impulse, AngularImpulse } from "./forces/components.js";
 // Kinematic targets
-export { KinematicTargetPosition, KinematicTargetRotation } from "./components/target.js";
+export { KinematicTargetPosition, KinematicTargetRotation } from "./kinematic/components.js";
+// Joints
+export { Joint, JointBodyA, JointBodyB, JointFrame, RevoluteJoint, DistanceJoint, WeldJoint, FilterJoint, JointMotor, JointLimit, JointLinearSpring, JointAngularSpring, JointSettings, } from "./joints/components.js";
 // Events
-export { ContactEvents, SensorEvents, HitEvents, } from "./components/events.js";
+export { ContactEvents, SensorEvents, HitEvents, } from "./events/components.js";
 // Queries
 export { physics } from "./adapter/queries.js";
 //# sourceMappingURL=index.js.map

package/index.js.map

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package/joints/components.d.ts

@@ -0,0 +1,116 @@
+import { Relationship } from "@vworlds/vecs";
+import type { Vec2 } from "../shapes/components.js";
+/**
+ * Empty umbrella marker for every concrete joint type. A joint entity carries
+ * exactly one of `RevoluteJoint`, `DistanceJoint`, `WeldJoint`, or `FilterJoint`;
+ * each implements `Joint` so queries and systems can match any joint without
+ * enumerating every concrete type. Holds the single Box2D handle, since every
+ * joint type maps to exactly one `b2JointId`.
+ */
+export declare abstract class Joint {
+}
+/**
+ * Relationship to the first connected body ("body A"). Set its `target` to the
+ * body entity. Destroying body A destroys the joint entity (Box2D destroys a
+ * body's joints with it). Anchors/limits/reference angle are expressed relative
+ * to A through {@link JointFrame}.
+ */
+export declare class JointBodyA extends Relationship {
+}
+/**
+ * Relationship to the second connected body ("body B"). Set its `target` to the
+ * body entity. Destroying body B destroys the joint entity. The A/B roles are
+ * asymmetric: motors drive B relative to A and the reference angle is measured as
+ * B's rest angle relative to A.
+ */
+export declare class JointBodyB extends Relationship {
+}
+/**
+ * Where the joint attaches on each body and the bodies' rest orientation.
+ * `localAnchorA`/`localAnchorB` are anchor points in each body's local frame;
+ * `referenceAngle` is body B's angle relative to body A at rest (radians).
+ *
+ * Optional: a missing `JointFrame` anchors both bodies at their origins with a
+ * zero reference angle. `DistanceJoint` ignores `referenceAngle`.
+ */
+export declare class JointFrame {
+    localAnchorA: Vec2;
+    localAnchorB: Vec2;
+    referenceAngle: number;
+}
+/**
+ * Revolute (hinge) joint: pins the two bodies at a shared anchor and lets them
+ * rotate relative to each other. Add {@link JointMotor} to drive the rotation,
+ * {@link JointLimit} to clamp the angle (radians, relative to the reference
+ * angle), or {@link JointAngularSpring} for a soft rest angle.
+ */
+export declare class RevoluteJoint extends Joint {
+}
+/**
+ * Distance joint: keeps the two anchor points a fixed `length` apart (a rigid
+ * rod by default). Add {@link JointLinearSpring} to make it springy,
+ * {@link JointLimit} to bound the separation (`lower`/`upper` become min/max
+ * length), or {@link JointMotor} to drive the length.
+ */
+export declare class DistanceJoint extends Joint {
+    length: number;
+}
+/**
+ * Weld joint: rigidly fixes the two bodies' relative position and orientation
+ * (at the reference angle). Add {@link JointLinearSpring} and/or
+ * {@link JointAngularSpring} to make the weld soft along each axis.
+ */
+export declare class WeldJoint extends Joint {
+}
+/**
+ * Filter joint: disables collision between the two connected bodies without
+ * otherwise constraining them. Carries no tunables; motor/limit/spring features
+ * do not apply.
+ */
+export declare class FilterJoint extends Joint {
+}
+/**
+ * Optional motor feature. Present = motor enabled. Drives the joint toward
+ * `targetSpeed` (rad/s for revolute, m/s for distance) bounded by `maxForce`
+ * (interpreted as a torque for angular joints). Applies to `RevoluteJoint` and
+ * `DistanceJoint`.
+ */
+export declare class JointMotor {
+    targetSpeed: number;
+    maxForce: number;
+}
+/**
+ * Optional limit feature. Present = limit enabled. `lower`/`upper` are an angle
+ * range (radians) for `RevoluteJoint` and a length range (meters) for
+ * `DistanceJoint`.
+ */
+export declare class JointLimit {
+    lower: number;
+    upper: number;
+}
+/**
+ * Optional linear spring feature (soft constraint along the joint's linear axis).
+ * Present = spring enabled. `hertz` is the stiffness frequency, `dampingRatio`
+ * the damping. Applies to `DistanceJoint` and the linear axis of `WeldJoint`.
+ */
+export declare class JointLinearSpring {
+    hertz: number;
+    dampingRatio: number;
+}
+/**
+ * Optional angular spring feature (soft constraint on the relative angle).
+ * Present = spring enabled. Applies to `RevoluteJoint` and the angular axis of
+ * `WeldJoint`. Split from {@link JointLinearSpring} so a weld can carry both at
+ * once.
+ */
+export declare class JointAngularSpring {
+    hertz: number;
+    dampingRatio: number;
+}
+/**
+ * Optional base-joint settings. `collideConnected` lets the two connected bodies
+ * still collide with each other (off by default). Missing = Box2D defaults.
+ */
+export declare class JointSettings {
+    collideConnected: boolean;
+}