@vworlds/vecs-physics 1.0.37 → 1.0.39

package/joints/components.js

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+// Joint components. A joint is its own entity that connects two bodies with a
+// constraint. The connection is modelled with two relationships (`JointBodyA`,
+// `JointBodyB`) so destroying a connected body cascade-destroys the joint and so
+// joint creation is order-independent, mirroring shape↔body wiring via `ChildOf`.
+//
+// Each joint entity carries exactly one concrete joint-type component (every type
+// implements the `Joint` umbrella, so `PhysicsModule` enforces mutual
+// exclusivity). Optional, reusable feature components (`JointMotor`, `JointLimit`,
+// `JointLinearSpring`, `JointAngularSpring`) layer behaviour on top: a feature is
+// enabled exactly when its component is present, so features are set, tuned, and
+// removed independently. Public API — see `docs/joints.md`.
+//
+// These are plain data classes: every field is initialised on the class body so
+// `new C()` yields a valid, default-shaped instance (the Vecs zero-arg contract).
+// No imports from behavior modules or adapter/ beyond the type-only `b2JointId` handle.
+import { Relationship } from "@vworlds/vecs";
+/**
+ * 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 class Joint {
+    constructor() {
+        /** @internal Engine-owned Box2D joint handle. Set by the joint lifecycle system. */
+        this._jointId = undefined;
+    }
+}
+/**
+ * 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 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 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 class JointFrame {
+    constructor() {
+        this.localAnchorA = { x: 0, y: 0 };
+        this.localAnchorB = { x: 0, y: 0 };
+        this.referenceAngle = 0;
+    }
+}
+/**
+ * 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 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 class DistanceJoint extends Joint {
+    constructor() {
+        super(...arguments);
+        this.length = 1;
+    }
+}
+/**
+ * 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 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 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 class JointMotor {
+    constructor() {
+        this.targetSpeed = 0;
+        this.maxForce = 0;
+    }
+}
+/**
+ * Optional limit feature. Present = limit enabled. `lower`/`upper` are an angle
+ * range (radians) for `RevoluteJoint` and a length range (meters) for
+ * `DistanceJoint`.
+ */
+export class JointLimit {
+    constructor() {
+        this.lower = 0;
+        this.upper = 0;
+    }
+}
+/**
+ * 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 class JointLinearSpring {
+    constructor() {
+        this.hertz = 0;
+        this.dampingRatio = 0;
+    }
+}
+/**
+ * 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 class JointAngularSpring {
+    constructor() {
+        this.hertz = 0;
+        this.dampingRatio = 0;
+    }
+}
+/**
+ * Optional base-joint settings. `collideConnected` lets the two connected bodies
+ * still collide with each other (off by default). Missing = Box2D defaults.
+ */
+export class JointSettings {
+    constructor() {
+        this.collideConnected = false;
+    }
+}
+//# sourceMappingURL=components.js.map

package/joints/components.js.map

@@ -0,0 +1 @@
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package/joints/features.d.ts

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+import { Module } from "@vworlds/vecs";
+export declare class JointFeaturesModule extends Module {
+    init(): void;
+}

package/joints/features.js

@@ -0,0 +1,158 @@
+// Joint feature sync. Each optional feature (motor, limit, linear spring, angular
+// spring) is owned by its own small reactive system, modelled on
+// PhysicsMaterialFilterSync: presence of the component enables the feature, a
+// change re-tunes it, and removal disables it. Creation-time presence is baked
+// into the def by the lifecycle (`lifecycle.ts`); these systems own runtime
+// add/change/remove on a live joint via in-place Box2D setters.
+//
+// Every setter is guarded by `b2Joint_IsValid`: the joint may not exist yet (a
+// connected body hasn't appeared) or may have been reaped (a connected body was
+// destroyed) by the time a callback runs.
+import { Module } from "@vworlds/vecs";
+import { getPhysicsEngine, PhysicsSystemTag, } from "../adapter/engine.js";
+import { DistanceJoint, Joint, JointAngularSpring, JointLimit, JointLinearSpring, JointMotor, RevoluteJoint, WeldJoint, } from "./components.js";
+import { PhysicsCoreModule } from "../core/module.js";
+import { jointWithBothBodies } from "./predicates.js";
+export class JointFeaturesModule extends Module {
+    init() {
+        const world = this.world;
+        world.module(PhysicsCoreModule);
+        const engine = getPhysicsEngine(world);
+        const phase = engine.phases.preStep;
+        const motor = world
+            .system("PhysicsJointMotorSync")
+            .with(JointMotor, jointWithBothBodies)
+            .phase(phase)
+            .add(PhysicsSystemTag);
+        motor.update({ watch: JointMotor, onEnter: true, inject: [Joint] }, (_e, value, [joint]) => {
+            withLiveJoint(engine, joint, (id) => applyMotor(engine.box2d, joint, id, value));
+        });
+        motor.exit([JointMotor, Joint], (_e, [, joint]) => {
+            withLiveJoint(engine, joint, (id) => disableMotor(engine.box2d, joint, id));
+        });
+        const limit = world
+            .system("PhysicsJointLimitSync")
+            .with(JointLimit, jointWithBothBodies)
+            .phase(phase)
+            .add(PhysicsSystemTag);
+        limit.update({ watch: JointLimit, onEnter: true, inject: [Joint] }, (_e, value, [joint]) => {
+            withLiveJoint(engine, joint, (id) => applyLimit(engine.box2d, joint, id, value));
+        });
+        limit.exit([JointLimit, Joint], (_e, [, joint]) => {
+            withLiveJoint(engine, joint, (id) => disableLimit(engine.box2d, joint, id));
+        });
+        const linear = world
+            .system("PhysicsJointLinearSpringSync")
+            .with(JointLinearSpring, jointWithBothBodies)
+            .phase(phase)
+            .add(PhysicsSystemTag);
+        linear.update({ watch: JointLinearSpring, onEnter: true, inject: [Joint] }, (_e, value, [joint]) => {
+            withLiveJoint(engine, joint, (id) => applyLinearSpring(engine.box2d, joint, id, value));
+        });
+        linear.exit([JointLinearSpring, Joint], (_e, [, joint]) => {
+            withLiveJoint(engine, joint, (id) => disableLinearSpring(engine.box2d, joint, id));
+        });
+        const angular = world
+            .system("PhysicsJointAngularSpringSync")
+            .with(JointAngularSpring, jointWithBothBodies)
+            .phase(phase)
+            .add(PhysicsSystemTag);
+        angular.update({ watch: JointAngularSpring, onEnter: true, inject: [Joint] }, (_e, value, [joint]) => {
+            withLiveJoint(engine, joint, (id) => applyAngularSpring(engine.box2d, joint, id, value));
+        });
+        angular.exit([JointAngularSpring, Joint], (_e, [, joint]) => {
+            withLiveJoint(engine, joint, (id) => disableAngularSpring(engine.box2d, joint, id));
+        });
+    }
+}
+/** Run `fn` only when the joint exists and its Box2D handle is still valid, then
+ * wake the connected bodies so a runtime feature change takes effect even if they
+ * had gone to sleep (Box2D's joint setters do not wake bodies on their own). */
+function withLiveJoint(engine, joint, fn) {
+    const jointId = joint?._jointId;
+    if (jointId === undefined || !engine.box2d.b2Joint_IsValid(jointId)) {
+        return;
+    }
+    fn(jointId);
+    engine.box2d.b2Joint_WakeBodies(jointId);
+}
+function applyMotor(box2d, joint, jointId, motor) {
+    if (joint instanceof RevoluteJoint) {
+        box2d.b2RevoluteJoint_EnableMotor(jointId, true);
+        box2d.b2RevoluteJoint_SetMotorSpeed(jointId, motor.targetSpeed);
+        box2d.b2RevoluteJoint_SetMaxMotorTorque(jointId, motor.maxForce);
+    }
+    else if (joint instanceof DistanceJoint) {
+        box2d.b2DistanceJoint_EnableMotor(jointId, true);
+        box2d.b2DistanceJoint_SetMotorSpeed(jointId, motor.targetSpeed);
+        box2d.b2DistanceJoint_SetMaxMotorForce(jointId, motor.maxForce);
+    }
+}
+function disableMotor(box2d, joint, jointId) {
+    if (joint instanceof RevoluteJoint) {
+        box2d.b2RevoluteJoint_EnableMotor(jointId, false);
+    }
+    else if (joint instanceof DistanceJoint) {
+        box2d.b2DistanceJoint_EnableMotor(jointId, false);
+    }
+}
+function applyLimit(box2d, joint, jointId, limit) {
+    if (joint instanceof RevoluteJoint) {
+        box2d.b2RevoluteJoint_EnableLimit(jointId, true);
+        box2d.b2RevoluteJoint_SetLimits(jointId, limit.lower, limit.upper);
+    }
+    else if (joint instanceof DistanceJoint) {
+        box2d.b2DistanceJoint_EnableLimit(jointId, true);
+        box2d.b2DistanceJoint_SetLengthRange(jointId, limit.lower, limit.upper);
+    }
+}
+function disableLimit(box2d, joint, jointId) {
+    if (joint instanceof RevoluteJoint) {
+        box2d.b2RevoluteJoint_EnableLimit(jointId, false);
+    }
+    else if (joint instanceof DistanceJoint) {
+        box2d.b2DistanceJoint_EnableLimit(jointId, false);
+    }
+}
+function applyLinearSpring(box2d, joint, jointId, spring) {
+    if (joint instanceof DistanceJoint) {
+        box2d.b2DistanceJoint_EnableSpring(jointId, true);
+        box2d.b2DistanceJoint_SetSpringHertz(jointId, spring.hertz);
+        box2d.b2DistanceJoint_SetSpringDampingRatio(jointId, spring.dampingRatio);
+    }
+    else if (joint instanceof WeldJoint) {
+        box2d.b2WeldJoint_SetLinearHertz(jointId, spring.hertz);
+        box2d.b2WeldJoint_SetLinearDampingRatio(jointId, spring.dampingRatio);
+    }
+}
+function disableLinearSpring(box2d, joint, jointId) {
+    if (joint instanceof DistanceJoint) {
+        box2d.b2DistanceJoint_EnableSpring(jointId, false);
+    }
+    else if (joint instanceof WeldJoint) {
+        // A weld has no spring enable flag; zero hertz is a rigid weld.
+        box2d.b2WeldJoint_SetLinearHertz(jointId, 0);
+        box2d.b2WeldJoint_SetLinearDampingRatio(jointId, 0);
+    }
+}
+function applyAngularSpring(box2d, joint, jointId, spring) {
+    if (joint instanceof RevoluteJoint) {
+        box2d.b2RevoluteJoint_EnableSpring(jointId, true);
+        box2d.b2RevoluteJoint_SetSpringHertz(jointId, spring.hertz);
+        box2d.b2RevoluteJoint_SetSpringDampingRatio(jointId, spring.dampingRatio);
+    }
+    else if (joint instanceof WeldJoint) {
+        box2d.b2WeldJoint_SetAngularHertz(jointId, spring.hertz);
+        box2d.b2WeldJoint_SetAngularDampingRatio(jointId, spring.dampingRatio);
+    }
+}
+function disableAngularSpring(box2d, joint, jointId) {
+    if (joint instanceof RevoluteJoint) {
+        box2d.b2RevoluteJoint_EnableSpring(jointId, false);
+    }
+    else if (joint instanceof WeldJoint) {
+        box2d.b2WeldJoint_SetAngularHertz(jointId, 0);
+        box2d.b2WeldJoint_SetAngularDampingRatio(jointId, 0);
+    }
+}
+//# sourceMappingURL=features.js.map

package/joints/features.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"features.js","sourceRoot":"","sources":["../../../../src/joints/features.ts"],"names":[],"mappings":"AAAA,kFAAkF;AAClF,iEAAiE;AACjE,8EAA8E;AAC9E,+EAA+E;AAC/E,4EAA4E;AAC5E,gEAAgE;AAChE,EAAE;AACF,+EAA+E;AAC/E,gFAAgF;AAChF,0CAA0C;AAE1C,OAAO,EAAE,MAAM,EAAE,MAAM,eAAe,CAAC;AAEvC,OAAO,EACL,gBAAgB,EAChB,gBAAgB,GAGjB,MAAM,sBAAsB,CAAC;AAC9B,OAAO,EACL,aAAa,EACb,KAAK,EACL,kBAAkB,EAClB,UAAU,EACV,iBAAiB,EACjB,UAAU,EACV,aAAa,EACb,SAAS,GACV,MAAM,iBAAiB,CAAC;AAEzB,OAAO,EAAE,iBAAiB,EAAE,MAAM,mBAAmB,CAAC;AACtD,OAAO,EAAE,mBAAmB,EAAE,MAAM,iBAAiB,CAAC;AAEtD,MAAM,OAAO,mBAAoB,SAAQ,MAAM;IACtC,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,MAAM,KAAK,GAAG,MAAM,CAAC,MAAM,CAAC,OAAO,CAAC;QACpC,MAAM,KAAK,GAAG,KAAK;aAChB,MAAM,CAAC,uBAAuB,CAAC;aAC/B,IAAI,CAAC,UAAU,EAAE,mBAAmB,CAAC;aACrC,KAAK,CAAC,KAAK,CAAC;aACZ,GAAG,CAAC,gBAAgB,CAAC,CAAC;QACzB,KAAK,CAAC,MAAM,CAAC,EAAE,KAAK,EAAE,UAAU,EAAE,OAAO,EAAE,IAAI,EAAE,MAAM,EAAE,CAAC,KAAK,CAAC,EAAE,EAAE,CAAC,EAAE,EAAE,KAAK,EAAE,CAAC,KAAK,CAAC,EAAE,EAAE;YACzF,aAAa,CAAC,MAAM,EAAE,KAAK,EAAE,CAAC,EAAE,EAAE,EAAE,CAAC,UAAU,CAAC,MAAM,CAAC,KAAK,EAAE,KAAK,EAAE,EAAE,EAAE,KAAK,CAAC,CAAC,CAAC;QACnF,CAAC,CAAC,CAAC;QACH,KAAK,CAAC,IAAI,CAAC,CAAC,UAAU,EAAE,KAAK,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC,EAAE,KAAK,CAAC,EAAE,EAAE;YAChD,aAAa,CAAC,MAAM,EAAE,KAAK,EAAE,CAAC,EAAE,EAAE,EAAE,CAAC,YAAY,CAAC,MAAM,CAAC,KAAK,EAAE,KAAK,EAAE,EAAE,CAAC,CAAC,CAAC;QAC9E,CAAC,CAAC,CAAC;QAEH,MAAM,KAAK,GAAG,KAAK;aAChB,MAAM,CAAC,uBAAuB,CAAC;aAC/B,IAAI,CAAC,UAAU,EAAE,mBAAmB,CAAC;aACrC,KAAK,CAAC,KAAK,CAAC;aACZ,GAAG,CAAC,gBAAgB,CAAC,CAAC;QACzB,KAAK,CAAC,MAAM,CAAC,EAAE,KAAK,EAAE,UAAU,EAAE,OAAO,EAAE,IAAI,EAAE,MAAM,EAAE,CAAC,KAAK,CAAC,EAAE,EAAE,CAAC,EAAE,EAAE,KAAK,EAAE,CAAC,KAAK,CAAC,EAAE,EAAE;YACzF,aAAa,CAAC,MAAM,EAAE,KAAK,EAAE,CAAC,EAAE,EAAE,EAAE,CAAC,UAAU,CAAC,MAAM,CAAC,KAAK,EAAE,KAAK,EAAE,EAAE,EAAE,KAAK,CAAC,CAAC,CAAC;QACnF,CAAC,CAAC,CAAC;QACH,KAAK,CAAC,IAAI,CAAC,CAAC,UAAU,EAAE,KAAK,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC,EAAE,KAAK,CAAC,EAAE,EAAE;YAChD,aAAa,CAAC,MAAM,EAAE,KAAK,EAAE,CAAC,EAAE,EAAE,EAAE,CAAC,YAAY,CAAC,MAAM,CAAC,KAAK,EAAE,KAAK,EAAE,EAAE,CAAC,CAAC,CAAC;QAC9E,CAAC,CAAC,CAAC;QAEH,MAAM,MAAM,GAAG,KAAK;aACjB,MAAM,CAAC,8BAA8B,CAAC;aACtC,IAAI,CAAC,iBAAiB,EAAE,mBAAmB,CAAC;aAC5C,KAAK,CAAC,KAAK,CAAC;aACZ,GAAG,CAAC,gBAAgB,CAAC,CAAC;QACzB,MAAM,CAAC,MAAM,CACX,EAAE,KAAK,EAAE,iBAAiB,EAAE,OAAO,EAAE,IAAI,EAAE,MAAM,EAAE,CAAC,KAAK,CAAC,EAAE,EAC5D,CAAC,EAAE,EAAE,KAAK,EAAE,CAAC,KAAK,CAAC,EAAE,EAAE;YACrB,aAAa,CAAC,MAAM,EAAE,KAAK,EAAE,CAAC,EAAE,EAAE,EAAE,CAAC,iBAAiB,CAAC,MAAM,CAAC,KAAK,EAAE,KAAK,EAAE,EAAE,EAAE,KAAK,CAAC,CAAC,CAAC;QAC1F,CAAC,CACF,CAAC;QACF,MAAM,CAAC,IAAI,CAAC,CAAC,iBAAiB,EAAE,KAAK,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC,EAAE,KAAK,CAAC,EAAE,EAAE;YACxD,aAAa,CAAC,MAAM,EAAE,KAAK,EAAE,CAAC,EAAE,EAAE,EAAE,CAAC,mBAAmB,CAAC,MAAM,CAAC,KAAK,EAAE,KAAK,EAAE,EAAE,CAAC,CAAC,CAAC;QACrF,CAAC,CAAC,CAAC;QAEH,MAAM,OAAO,GAAG,KAAK;aAClB,MAAM,CAAC,+BAA+B,CAAC;aACvC,IAAI,CAAC,kBAAkB,EAAE,mBAAmB,CAAC;aAC7C,KAAK,CAAC,KAAK,CAAC;aACZ,GAAG,CAAC,gBAAgB,CAAC,CAAC;QACzB,OAAO,CAAC,MAAM,CACZ,EAAE,KAAK,EAAE,kBAAkB,EAAE,OAAO,EAAE,IAAI,EAAE,MAAM,EAAE,CAAC,KAAK,CAAC,EAAE,EAC7D,CAAC,EAAE,EAAE,KAAK,EAAE,CAAC,KAAK,CAAC,EAAE,EAAE;YACrB,aAAa,CAAC,MAAM,EAAE,KAAK,EAAE,CAAC,EAAE,EAAE,EAAE,CAAC,kBAAkB,CAAC,MAAM,CAAC,KAAK,EAAE,KAAK,EAAE,EAAE,EAAE,KAAK,CAAC,CAAC,CAAC;QAC3F,CAAC,CACF,CAAC;QACF,OAAO,CAAC,IAAI,CAAC,CAAC,kBAAkB,EAAE,KAAK,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC,EAAE,KAAK,CAAC,EAAE,EAAE;YAC1D,aAAa,CAAC,MAAM,EAAE,KAAK,EAAE,CAAC,EAAE,EAAE,EAAE,CAAC,oBAAoB,CAAC,MAAM,CAAC,KAAK,EAAE,KAAK,EAAE,EAAE,CAAC,CAAC,CAAC;QACtF,CAAC,CAAC,CAAC;IACL,CAAC;CACF;AAED;;gFAEgF;AAChF,SAAS,aAAa,CACpB,MAAqB,EACrB,KAAwB,EACxB,EAAgC;IAEhC,MAAM,OAAO,GAAG,KAAK,EAAE,QAAQ,CAAC;IAChC,IAAI,OAAO,KAAK,SAAS,IAAI,CAAC,MAAM,CAAC,KAAK,CAAC,eAAe,CAAC,OAAO,CAAC,EAAE,CAAC;QACpE,OAAO;IACT,CAAC;IACD,EAAE,CAAC,OAAO,CAAC,CAAC;IACZ,MAAM,CAAC,KAAK,CAAC,kBAAkB,CAAC,OAAO,CAAC,CAAC;AAC3C,CAAC;AAED,SAAS,UAAU,CAAC,KAAkB,EAAE,KAAY,EAAE,OAAkB,EAAE,KAAiB;IACzF,IAAI,KAAK,YAAY,aAAa,EAAE,CAAC;QACnC,KAAK,CAAC,2BAA2B,CAAC,OAAO,EAAE,IAAI,CAAC,CAAC;QACjD,KAAK,CAAC,6BAA6B,CAAC,OAAO,EAAE,KAAK,CAAC,WAAW,CAAC,CAAC;QAChE,KAAK,CAAC,iCAAiC,CAAC,OAAO,EAAE,KAAK,CAAC,QAAQ,CAAC,CAAC;IACnE,CAAC;SAAM,IAAI,KAAK,YAAY,aAAa,EAAE,CAAC;QAC1C,KAAK,CAAC,2BAA2B,CAAC,OAAO,EAAE,IAAI,CAAC,CAAC;QACjD,KAAK,CAAC,6BAA6B,CAAC,OAAO,EAAE,KAAK,CAAC,WAAW,CAAC,CAAC;QAChE,KAAK,CAAC,gCAAgC,CAAC,OAAO,EAAE,KAAK,CAAC,QAAQ,CAAC,CAAC;IAClE,CAAC;AACH,CAAC;AAED,SAAS,YAAY,CAAC,KAAkB,EAAE,KAAY,EAAE,OAAkB;IACxE,IAAI,KAAK,YAAY,aAAa,EAAE,CAAC;QACnC,KAAK,CAAC,2BAA2B,CAAC,OAAO,EAAE,KAAK,CAAC,CAAC;IACpD,CAAC;SAAM,IAAI,KAAK,YAAY,aAAa,EAAE,CAAC;QAC1C,KAAK,CAAC,2BAA2B,CAAC,OAAO,EAAE,KAAK,CAAC,CAAC;IACpD,CAAC;AACH,CAAC;AAED,SAAS,UAAU,CAAC,KAAkB,EAAE,KAAY,EAAE,OAAkB,EAAE,KAAiB;IACzF,IAAI,KAAK,YAAY,aAAa,EAAE,CAAC;QACnC,KAAK,CAAC,2BAA2B,CAAC,OAAO,EAAE,IAAI,CAAC,CAAC;QACjD,KAAK,CAAC,yBAAyB,CAAC,OAAO,EAAE,KAAK,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;IACrE,CAAC;SAAM,IAAI,KAAK,YAAY,aAAa,EAAE,CAAC;QAC1C,KAAK,CAAC,2BAA2B,CA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package/joints/lifecycle.d.ts

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

package/joints/lifecycle.js

@@ -0,0 +1,191 @@
+// Joint lifecycle: creates/destroys the Box2D joint that backs a joint entity.
+// Mirrors the shape lifecycle, but works over TWO bodies instead of one ChildOf
+// parent: each system injects both connected bodies through the JointBodyA/B
+// relationship targets and passes them in. Creation is order-independent: the
+// `jointWithBothBodies` predicate only matches once both connected bodies carry a
+// `Body`, and the relationship TargetTerms fan out reactively as bodies appear.
+//
+// Anchors and the reference angle are written straight into the def's embedded
+// local-frame transforms (`def.base.localFrameA.p.Set(...)`,
+// `...q.SetAngle(...)`), so joint creation allocates nothing beyond the def
+// handle wrapped by `withAllocated`. Feature components (motor/limit/spring) are
+// baked into the def here so creation-time presence works in any order; runtime
+// changes are owned by the feature sync module (`features.ts`).
+import { Module } from "@vworlds/vecs";
+import { getPhysicsEngine, PhysicsSystemTag, } from "../adapter/engine.js";
+import { Body } from "../body/components.js";
+import { DistanceJoint, FilterJoint, Joint, JointAngularSpring, JointBodyA, JointBodyB, JointFrame, JointLimit, JointLinearSpring, JointMotor, JointSettings, RevoluteJoint, WeldJoint, } from "./components.js";
+import { withAllocated } from "../adapter/disposal.js";
+import { PhysicsCoreModule } from "../core/module.js";
+import { jointWithBothBodies } from "./predicates.js";
+// Inject the `Joint` plus both connected bodies (resolved through the
+// JointBodyA/B relationship targets). Body terms are not in `.with`, so they
+// resolve as `Body | undefined`.
+const bodyAInject = { target: [JointBodyA, [Body]] };
+const bodyBInject = { target: [JointBodyB, [Body]] };
+export class JointLifecycleModule extends Module {
+    init() {
+        const world = this.world;
+        world.module(PhysicsCoreModule);
+        const engine = getPhysicsEngine(world);
+        const phase = engine.phases.preStep;
+        world
+            .system("PhysicsJointLifecycle")
+            .with(jointWithBothBodies)
+            .phase(phase)
+            .enter([Joint, bodyAInject, bodyBInject], (entity, [joint, bodyA, bodyB]) => {
+            createJointForEntity(engine, entity, joint, bodyA, bodyB);
+        })
+            // Inject `[Joint]` so the joint handle survives the post-`_destroy` exit
+            // snapshot, then defer the b2DestroyJoint to PhysicsReaper (validity-guarded,
+            // because a connected body's destroy may have detached this joint already).
+            .exit([Joint], (entity, [joint]) => {
+            destroyJointForEntity(engine, entity, true, joint);
+        })
+            // Type-component change (e.g. DistanceJoint.length): destroy + recreate now.
+            .update({ watch: Joint, inject: [bodyAInject, bodyBInject] }, (entity, joint, [bodyA, bodyB]) => {
+            recreateJointForEntity(engine, entity, joint, bodyA, bodyB);
+        })
+            .add(PhysicsSystemTag);
+        // JointFrame change: anchors/reference angle are create-time only, so recreate.
+        world
+            .system("PhysicsJointLifecycle:Frame")
+            .with(JointFrame, jointWithBothBodies)
+            .phase(phase)
+            .update({ watch: JointFrame, inject: [Joint, bodyAInject, bodyBInject] }, (entity, _frame, [joint, bodyA, bodyB]) => {
+            recreateJointForEntity(engine, entity, joint, bodyA, bodyB);
+        })
+            .add(PhysicsSystemTag);
+        // Retarget either body relationship: rebuild the joint on the new bodies.
+        world
+            .system("PhysicsJointLifecycle:Retarget")
+            .with(JointBodyA, JointBodyB, jointWithBothBodies)
+            .phase(phase)
+            .update({ watch: JointBodyA, inject: [Joint, bodyAInject, bodyBInject] }, (entity, _rel, [joint, bodyA, bodyB]) => {
+            recreateJointForEntity(engine, entity, joint, bodyA, bodyB);
+        })
+            .update({ watch: JointBodyB, inject: [Joint, bodyAInject, bodyBInject] }, (entity, _rel, [joint, bodyA, bodyB]) => {
+            recreateJointForEntity(engine, entity, joint, bodyA, bodyB);
+        })
+            .add(PhysicsSystemTag);
+    }
+}
+function recreateJointForEntity(engine, entity, joint, bodyA, bodyB) {
+    destroyJointForEntity(engine, entity, false, joint);
+    createJointForEntity(engine, entity, joint, bodyA, bodyB);
+}
+function createJointForEntity(engine, entity, joint, bodyA, bodyB) {
+    const bodyAId = bodyA?._bodyId;
+    const bodyBId = bodyB?._bodyId;
+    if (joint === undefined || bodyAId === undefined || bodyBId === undefined) {
+        return;
+    }
+    const jointId = createBox2dJoint(engine, entity, joint, bodyAId, bodyBId);
+    if (jointId !== undefined) {
+        joint._jointId = jointId;
+    }
+}
+// `deferDestroy` mirrors the shape lifecycle: an exit defers the b2DestroyJoint to
+// PhysicsReaper (joint still live until then), an in-place recreate destroys now.
+function destroyJointForEntity(engine, entity, deferDestroy, joint) {
+    const resolvedJoint = joint ?? entity.get(Joint);
+    const jointId = resolvedJoint?._jointId;
+    if (jointId === undefined) {
+        return;
+    }
+    if (deferDestroy) {
+        engine.pendingJointDestroys.push(jointId);
+    }
+    else if (engine.box2d.b2Joint_IsValid(jointId)) {
+        engine.box2d.b2DestroyJoint(jointId, true);
+    }
+    const mutableJoint = entity.get(Joint);
+    if (mutableJoint !== undefined) {
+        mutableJoint._jointId = undefined;
+    }
+}
+function createBox2dJoint(engine, entity, joint, bodyAId, bodyBId) {
+    const box2d = engine.box2d;
+    const frame = entity.get(JointFrame);
+    const collideConnected = entity.get(JointSettings)?.collideConnected ?? false;
+    const motor = entity.get(JointMotor);
+    const limit = entity.get(JointLimit);
+    const linearSpring = entity.get(JointLinearSpring);
+    const angularSpring = entity.get(JointAngularSpring);
+    // Write anchors + reference angle into a def's embedded local frames. The
+    // reference angle (B's rest angle relative to A) is encoded on frame A's
+    // rotation; frame B stays identity.
+    const applyBase = (base) => {
+        base.bodyIdA = bodyAId;
+        base.bodyIdB = bodyBId;
+        base.localFrameA.p.Set(frame?.localAnchorA.x ?? 0, frame?.localAnchorA.y ?? 0);
+        base.localFrameA.q.SetAngle(frame?.referenceAngle ?? 0);
+        base.localFrameB.p.Set(frame?.localAnchorB.x ?? 0, frame?.localAnchorB.y ?? 0);
+        base.collideConnected = collideConnected;
+    };
+    if (joint instanceof RevoluteJoint) {
+        return withAllocated(box2d.b2DefaultRevoluteJointDef, (def) => {
+            applyBase(def.base);
+            if (motor !== undefined) {
+                def.enableMotor = true;
+                def.motorSpeed = motor.targetSpeed;
+                def.maxMotorTorque = motor.maxForce;
+            }
+            if (limit !== undefined) {
+                def.enableLimit = true;
+                def.lowerAngle = limit.lower;
+                def.upperAngle = limit.upper;
+            }
+            if (angularSpring !== undefined) {
+                def.enableSpring = true;
+                def.hertz = angularSpring.hertz;
+                def.dampingRatio = angularSpring.dampingRatio;
+            }
+            return box2d.b2CreateRevoluteJoint(engine.worldId, def);
+        });
+    }
+    if (joint instanceof DistanceJoint) {
+        return withAllocated(box2d.b2DefaultDistanceJointDef, (def) => {
+            applyBase(def.base);
+            def.length = joint.length;
+            if (linearSpring !== undefined) {
+                def.enableSpring = true;
+                def.hertz = linearSpring.hertz;
+                def.dampingRatio = linearSpring.dampingRatio;
+            }
+            if (limit !== undefined) {
+                def.enableLimit = true;
+                def.minLength = limit.lower;
+                def.maxLength = limit.upper;
+            }
+            if (motor !== undefined) {
+                def.enableMotor = true;
+                def.motorSpeed = motor.targetSpeed;
+                def.maxMotorForce = motor.maxForce;
+            }
+            return box2d.b2CreateDistanceJoint(engine.worldId, def);
+        });
+    }
+    if (joint instanceof WeldJoint) {
+        return withAllocated(box2d.b2DefaultWeldJointDef, (def) => {
+            applyBase(def.base);
+            if (linearSpring !== undefined) {
+                def.linearHertz = linearSpring.hertz;
+                def.linearDampingRatio = linearSpring.dampingRatio;
+            }
+            if (angularSpring !== undefined) {
+                def.angularHertz = angularSpring.hertz;
+                def.angularDampingRatio = angularSpring.dampingRatio;
+            }
+            return box2d.b2CreateWeldJoint(engine.worldId, def);
+        });
+    }
+    if (joint instanceof FilterJoint) {
+        return withAllocated(box2d.b2DefaultFilterJointDef, (def) => {
+            applyBase(def.base);
+            return box2d.b2CreateFilterJoint(engine.worldId, def);
+        });
+    }
+    return undefined;
+}
+//# sourceMappingURL=lifecycle.js.map

package/joints/lifecycle.js.map

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

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

package/joints/module.js

@@ -0,0 +1,33 @@
+import { Implements, Module } from "@vworlds/vecs";
+import { BodyModule } from "../body/module.js";
+import { PhysicsCoreModule } from "../core/module.js";
+import { DistanceJoint, FilterJoint, Joint, JointAngularSpring, JointBodyA, JointBodyB, JointFrame, JointLimit, JointLinearSpring, JointMotor, JointSettings, RevoluteJoint, WeldJoint, } from "./components.js";
+import { JointFeaturesModule } from "./features.js";
+import { JointLifecycleModule } from "./lifecycle.js";
+export class JointsModule extends Module {
+    init() {
+        const world = this.world;
+        world.module(PhysicsCoreModule);
+        world.module(BodyModule);
+        world.component(JointBodyA);
+        world.component(JointBodyB);
+        world.component(Joint);
+        world.component(RevoluteJoint);
+        world.component(DistanceJoint);
+        world.component(WeldJoint);
+        world.component(FilterJoint);
+        world.component(JointFrame);
+        world.component(JointMotor);
+        world.component(JointLimit);
+        world.component(JointLinearSpring);
+        world.component(JointAngularSpring);
+        world.component(JointSettings);
+        world.component(RevoluteJoint).set(Implements, { interfaces: [Joint] });
+        world.component(DistanceJoint).set(Implements, { interfaces: [Joint] });
+        world.component(WeldJoint).set(Implements, { interfaces: [Joint] });
+        world.component(FilterJoint).set(Implements, { interfaces: [Joint] });
+        world.module(JointLifecycleModule);
+        world.module(JointFeaturesModule);
+    }
+}
+//# sourceMappingURL=module.js.map

package/joints/module.js.map

@@ -0,0 +1 @@
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package/joints/predicates.d.ts

@@ -0,0 +1,9 @@
+import { Body } from "../body/components.js";
+import { Joint, JointBodyA, JointBodyB } from "./components.js";
+export declare const jointWithBothBodies: {
+    readonly all: readonly [typeof Joint, {
+        readonly target: readonly [typeof JointBodyA, readonly [typeof Body]];
+    }, {
+        readonly target: readonly [typeof JointBodyB, readonly [typeof Body]];
+    }];
+};

package/joints/predicates.js

@@ -0,0 +1,10 @@
+import { Body } from "../body/components.js";
+import { Joint, JointBodyA, JointBodyB } from "./components.js";
+// A joint is live only once BOTH connected bodies exist and carry a `Body`.
+// `{ target: [JointBody*, [Body]] }` is a TargetTerm that fans out reactively when
+// either target gains `Body`, so joint creation is order-independent (the joint
+// entity can be created before, after, or between its bodies).
+export const jointWithBothBodies = {
+    all: [Joint, { target: [JointBodyA, [Body]] }, { target: [JointBodyB, [Body]] }],
+};
+//# sourceMappingURL=predicates.js.map

package/joints/predicates.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"predicates.js","sourceRoot":"","sources":["../../../../src/joints/predicates.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,IAAI,EAAE,MAAM,uBAAuB,CAAC;AAC7C,OAAO,EAAE,KAAK,EAAE,UAAU,EAAE,UAAU,EAAE,MAAM,iBAAiB,CAAC;AAEhE,4EAA4E;AAC5E,mFAAmF;AACnF,gFAAgF;AAChF,+DAA+D;AAC/D,MAAM,CAAC,MAAM,mBAAmB,GAAG;IACjC,GAAG,EAAE,CAAC,KAAK,EAAE,EAAE,MAAM,EAAE,CAAC,UAAU,EAAE,CAAC,IAAI,CAAC,CAAC,EAAE,EAAE,EAAE,MAAM,EAAE,CAAC,UAAU,EAAE,CAAC,IAAI,CAAC,CAAC,EAAE,CAAC;CACxE,CAAC"}

package/{components/target.js → kinematic/components.js}

@@ -18,4 +18,4 @@ export class KinematicTargetRotation {
         this.wake = true;
     }
 }
-//# sourceMappingURL=target.js.map
+//# sourceMappingURL=components.js.map

package/kinematic/components.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"components.js","sourceRoot":"","sources":["../../../../src/kinematic/components.ts"],"names":[],"mappings":"AAAA,iFAAiF;AACjF,8EAA8E;AAC9E,yCAAyC;AAEzC,wDAAwD;AACxD,MAAM,OAAO,uBAAuB;IAApC;QACE,MAAC,GAAG,CAAC,CAAC;QACN,MAAC,GAAG,CAAC,CAAC;QACN,cAAS,GAAG,KAAK,CAAC;QAClB,SAAI,GAAG,IAAI,CAAC;IACd,CAAC;CAAA;AAED,kEAAkE;AAClE,MAAM,OAAO,uBAAuB;IAApC;QACE,UAAK,GAAG,CAAC,CAAC;QACV,cAAS,GAAG,KAAK,CAAC;QAClB,SAAI,GAAG,IAAI,CAAC;IACd,CAAC;CAAA"}

package/kinematic/module.d.ts

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

package/kinematic/module.js

@@ -0,0 +1,16 @@
+import { Module } from "@vworlds/vecs";
+import { BodyModule } from "../body/module.js";
+import { PhysicsCoreModule } from "../core/module.js";
+import { KinematicTargetPosition, KinematicTargetRotation } from "./components.js";
+import { KinematicTargetsModule } from "./targets.js";
+export class KinematicModule extends Module {
+    init() {
+        const world = this.world;
+        world.module(PhysicsCoreModule);
+        world.module(BodyModule);
+        world.component(KinematicTargetPosition);
+        world.component(KinematicTargetRotation);
+        world.module(KinematicTargetsModule);
+    }
+}
+//# sourceMappingURL=module.js.map