ecspresso 0.14.2 → 0.14.4

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Files changed (20) hide show
  1. package/dist/index.js +2 -2
  2. package/dist/index.js.map +1 -1
  3. package/dist/plugins/ai/flocking.js +2 -2
  4. package/dist/plugins/ai/flocking.js.map +4 -4
  5. package/dist/plugins/physics/collision.js +2 -2
  6. package/dist/plugins/physics/collision.js.map +4 -4
  7. package/dist/plugins/physics/collision3D.js +2 -2
  8. package/dist/plugins/physics/collision3D.js.map +6 -6
  9. package/dist/plugins/physics/physics2D.js +2 -2
  10. package/dist/plugins/physics/physics2D.js.map +4 -4
  11. package/dist/plugins/physics/physics3D.js +2 -2
  12. package/dist/plugins/physics/physics3D.js.map +4 -4
  13. package/dist/plugins/rendering/renderer3D.js +20 -20
  14. package/dist/plugins/rendering/renderer3D.js.map +3 -3
  15. package/dist/plugins/spatial/camera3D.d.ts +1 -0
  16. package/dist/plugins/spatial/camera3D.js +2 -2
  17. package/dist/plugins/spatial/camera3D.js.map +3 -3
  18. package/dist/plugins/spatial/spatial-index3D.js +2 -2
  19. package/dist/plugins/spatial/spatial-index3D.js.map +3 -3
  20. package/package.json +14 -2
package/dist/plugins/ai/flocking.js.map CHANGED
@@ -2,11 +2,11 @@
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  "version": 3,
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  "sources": ["../src/plugins/physics/physics2D.ts", "../src/utils/narrowphase.ts", "../src/plugins/ai/flocking.ts"],
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  "sourcesContent": [
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- "/**\n * Physics 2D Plugin for ECSpresso\n *\n * Provides ECS-native arcade physics: gravity, forces, drag, semi-implicit Euler\n * integration, and impulse-based collision response with friction.\n *\n * Reuses collider types from the collision plugin for shape definitions.\n * Has its own collision detection in fixedUpdate for physics response;\n * the existing collision plugin can still run in postUpdate for game logic events.\n */\n\nimport { definePlugin } from 'ecspresso';\nimport type { SystemPhase } from 'ecspresso';\nimport type { TransformComponentTypes, TransformWorldConfig } from '../spatial/transform';\nimport type { CollisionComponentTypes, LayerFactories } from './collision';\nimport type { Vector2D } from 'ecspresso';\nimport { fillBaseColliderInfo, detectCollisions, AABB_SHAPE, type Contact, type BaseColliderInfo } from '../../utils/narrowphase';\nimport type { SpatialIndex } from '../../utils/spatial-hash';\n\n// ==================== Component Types ====================\n\n/**\n * Rigid body types for physics simulation.\n * - 'dynamic': Fully simulated (gravity, forces, collisions)\n * - 'kinematic': Moves via velocity only (ignores gravity/forces, immovable in collisions)\n * - 'static': Immovable (ignores gravity, forces, and velocity)\n */\nexport type BodyType = 'dynamic' | 'kinematic' | 'static';\n\n/**\n * Rigid body component controlling physics behavior.\n */\nexport interface RigidBody {\n\ttype: BodyType;\n\t/** Mass in arbitrary units. Affects force→acceleration. Infinity = immovable. */\n\tmass: number;\n\t/** Linear velocity damping coefficient (units/sec, 0 = none) */\n\tdrag: number;\n\t/** Bounciness 0–1 (0 = no bounce, 1 = perfectly elastic) */\n\trestitution: number;\n\t/** Surface friction coefficient 0–1 */\n\tfriction: number;\n\t/** Per-entity gravity multiplier (0 = no gravity) */\n\tgravityScale: number;\n}\n\n/**\n * Component types directly provided by the physics plugin.\n */\nexport interface Physics2DOwnComponentTypes {\n\trigidBody: RigidBody;\n\tvelocity: Vector2D;\n\tforce: Vector2D;\n}\n\n/**\n * Full component types available when using the physics plugin\n * (own components + transform + collision dependencies).\n * Convenience alias for consumer code.\n */\nexport interface Physics2DComponentTypes<L extends string = never> extends TransformComponentTypes, CollisionComponentTypes<L>, Physics2DOwnComponentTypes {}\n\n// ==================== Resource Types ====================\n\n/**\n * Physics configuration resource.\n */\nexport interface Physics2DConfig {\n\tgravity: Vector2D;\n}\n\nexport interface Physics2DResourceTypes {\n\tphysicsConfig: Physics2DConfig;\n}\n\n// ==================== Event Types ====================\n\n/**\n * Event emitted for each physics collision pair.\n *\n * Normal components are flattened (`normalX`/`normalY`) rather than nested\n * in a `Vector2D` to avoid a per-event allocation in the physics hot path.\n */\nexport interface Physics2DCollisionEvent {\n\tentityA: number;\n\tentityB: number;\n\t/** Unit normal X, pointing from A toward B */\n\tnormalX: number;\n\t/** Unit normal Y, pointing from A toward B */\n\tnormalY: number;\n\t/** Penetration depth (positive) */\n\tdepth: number;\n}\n\nexport interface Physics2DEventTypes {\n\tphysicsCollision: Physics2DCollisionEvent;\n}\n\n// ==================== Plugin Options ====================\n\nexport interface Physics2DPluginOptions<G extends string = 'physics2D', CG extends string = never> {\n\t/** World gravity vector (default: {x: 0, y: 0}) */\n\tgravity?: Vector2D;\n\t/** System group name (default: 'physics2D') */\n\tsystemGroup?: G;\n\t/** Additional group for the collision system only (default: none).\n\t * When set, the collision system belongs to both `systemGroup` and this group,\n\t * allowing independent enable/disable of collision detection. */\n\tcollisionSystemGroup?: CG;\n\t/** Priority for integration system (default: 1000) */\n\tintegrationPriority?: number;\n\t/** Priority for collision system (default: 900) */\n\tcollisionPriority?: number;\n\t/** Execution phase (default: 'fixedUpdate') */\n\tphase?: SystemPhase;\n}\n\n// ==================== Helper Functions ====================\n\nexport interface RigidBodyOptions {\n\tmass?: number;\n\tdrag?: number;\n\trestitution?: number;\n\tfriction?: number;\n\tgravityScale?: number;\n}\n\n/**\n * Create a rigid body + force component pair.\n * Static bodies automatically get mass=Infinity.\n */\nexport function createRigidBody(\n\ttype: BodyType,\n\toptions?: RigidBodyOptions,\n): { rigidBody: RigidBody; force: Vector2D } {\n\treturn {\n\t\trigidBody: {\n\t\t\ttype,\n\t\t\tmass: type === 'static' ? Infinity : (options?.mass ?? 1),\n\t\t\tdrag: options?.drag ?? 0,\n\t\t\trestitution: options?.restitution ?? 0,\n\t\t\tfriction: options?.friction ?? 0,\n\t\t\tgravityScale: options?.gravityScale ?? 1,\n\t\t},\n\t\tforce: { x: 0, y: 0 },\n\t};\n}\n\n/**\n * Create a force component with initial values.\n */\nexport function createForce(x: number, y: number): { force: Vector2D } {\n\treturn { force: { x, y } };\n}\n\n/**\n * Accumulate a force onto an entity's force component.\n */\nexport function applyForce(\n\tecs: { getComponent(id: number, name: 'force'): Vector2D | undefined },\n\tentityId: number,\n\tfx: number,\n\tfy: number,\n): void {\n\tconst force = ecs.getComponent(entityId, 'force');\n\tif (!force) return;\n\tforce.x += fx;\n\tforce.y += fy;\n}\n\n/**\n * Apply an instantaneous impulse: velocity += impulse / mass.\n */\nexport function applyImpulse(\n\tecs: {\n\t\tgetComponent(id: number, name: 'velocity'): Vector2D | undefined;\n\t\tgetComponent(id: number, name: 'rigidBody'): RigidBody | undefined;\n\t},\n\tentityId: number,\n\tix: number,\n\tiy: number,\n): void {\n\tconst velocity = ecs.getComponent(entityId, 'velocity');\n\tconst rigidBody = ecs.getComponent(entityId, 'rigidBody');\n\tif (!velocity || !rigidBody) return;\n\tif (rigidBody.mass === Infinity || rigidBody.mass === 0) return;\n\tvelocity.x += ix / rigidBody.mass;\n\tvelocity.y += iy / rigidBody.mass;\n}\n\n/**\n * Directly set an entity's velocity.\n */\nexport function setVelocity(\n\tecs: { getComponent(id: number, name: 'velocity'): Vector2D | undefined },\n\tentityId: number,\n\tvx: number,\n\tvy: number,\n): void {\n\tconst velocity = ecs.getComponent(entityId, 'velocity');\n\tif (!velocity) return;\n\tvelocity.x = vx;\n\tvelocity.y = vy;\n}\n\n// ==================== Internal: Collider Info ====================\n\ninterface Physics2DColliderInfo<L extends string = string> extends BaseColliderInfo<L> {\n\trigidBody: RigidBody;\n\tvelocity: Vector2D;\n}\n\n// ==================== Collision Response ====================\n\n/**\n * Module-level reusable physics collision event. Subscribers must consume\n * synchronously — same contract as the shared narrowphase Contact.\n */\nconst _physicsCollisionEvent: Physics2DCollisionEvent = {\n\tentityA: 0, entityB: 0, normalX: 0, normalY: 0, depth: 0,\n};\n\ninterface PhysicsEcsLike {\n\tgetComponent(id: number, name: 'localTransform'): { x: number; y: number } | undefined;\n\teventBus: { publish(event: 'physicsCollision', data: Physics2DCollisionEvent): void };\n\tmarkChanged(entityId: number, componentName: 'localTransform' | 'velocity'): void;\n}\n\n/**\n * Resolve a physics collision pair: position correction, impulse response, event.\n */\nfunction resolvePhysicsContact(\n\ta: Physics2DColliderInfo,\n\tb: Physics2DColliderInfo,\n\tcontact: Contact,\n\tecs: PhysicsEcsLike,\n): void {\n\tconst invMassA = (a.rigidBody.type === 'dynamic' && a.rigidBody.mass > 0 && a.rigidBody.mass !== Infinity)\n\t\t? 1 / a.rigidBody.mass\n\t\t: 0;\n\tconst invMassB = (b.rigidBody.type === 'dynamic' && b.rigidBody.mass > 0 && b.rigidBody.mass !== Infinity)\n\t\t? 1 / b.rigidBody.mass\n\t\t: 0;\n\tconst totalInvMass = invMassA + invMassB;\n\n\t// Position correction\n\tif (totalInvMass > 0) {\n\t\tconst correctionScale = contact.depth / totalInvMass;\n\n\t\tif (invMassA > 0) {\n\t\t\tconst ltA = ecs.getComponent(a.entityId, 'localTransform');\n\t\t\tif (!ltA) return;\n\t\t\tltA.x -= correctionScale * invMassA * contact.normalX;\n\t\t\tltA.y -= correctionScale * invMassA * contact.normalY;\n\t\t\t// Update cached position for subsequent pairs (collider offset already baked in)\n\t\t\ta.x = ltA.x;\n\t\t\tecs.markChanged(a.entityId, 'localTransform');\n\t\t}\n\n\t\tif (invMassB > 0) {\n\t\t\tconst ltB = ecs.getComponent(b.entityId, 'localTransform');\n\t\t\tif (!ltB) return;\n\t\t\tltB.x += correctionScale * invMassB * contact.normalX;\n\t\t\tltB.y += correctionScale * invMassB * contact.normalY;\n\t\t\tecs.markChanged(b.entityId, 'localTransform');\n\t\t}\n\n\t\t// Velocity response (impulse-based)\n\t\tconst relVelX = b.velocity.x - a.velocity.x;\n\t\tconst relVelY = b.velocity.y - a.velocity.y;\n\t\tconst velAlongNormal = relVelX * contact.normalX + relVelY * contact.normalY;\n\n\t\tif (velAlongNormal < 0) {\n\t\t\tconst restitution = Math.min(a.rigidBody.restitution, b.rigidBody.restitution);\n\t\t\tconst normalImpulse = -(1 + restitution) * velAlongNormal / totalInvMass;\n\n\t\t\ta.velocity.x -= normalImpulse * invMassA * contact.normalX;\n\t\t\ta.velocity.y -= normalImpulse * invMassA * contact.normalY;\n\t\t\tb.velocity.x += normalImpulse * invMassB * contact.normalX;\n\t\t\tb.velocity.y += normalImpulse * invMassB * contact.normalY;\n\n\t\t\t// Friction (tangential impulse)\n\t\t\tconst tangentX = relVelX - velAlongNormal * contact.normalX;\n\t\t\tconst tangentY = relVelY - velAlongNormal * contact.normalY;\n\t\t\tconst tangentSpeed = Math.sqrt(tangentX * tangentX + tangentY * tangentY);\n\n\t\t\tif (tangentSpeed > 1e-6) {\n\t\t\t\tconst tangentNX = tangentX / tangentSpeed;\n\t\t\t\tconst tangentNY = tangentY / tangentSpeed;\n\t\t\t\tconst friction = Math.sqrt(a.rigidBody.friction * b.rigidBody.friction);\n\t\t\t\tconst maxFrictionImpulse = friction * Math.abs(normalImpulse);\n\t\t\t\tconst tangentImpulse = Math.min(tangentSpeed / totalInvMass, maxFrictionImpulse);\n\n\t\t\t\ta.velocity.x += tangentImpulse * invMassA * tangentNX;\n\t\t\t\ta.velocity.y += tangentImpulse * invMassA * tangentNY;\n\t\t\t\tb.velocity.x -= tangentImpulse * invMassB * tangentNX;\n\t\t\t\tb.velocity.y -= tangentImpulse * invMassB * tangentNY;\n\t\t\t}\n\t\t}\n\n\t\tecs.markChanged(a.entityId, 'velocity');\n\t\tecs.markChanged(b.entityId, 'velocity');\n\t}\n\n\t_physicsCollisionEvent.entityA = a.entityId;\n\t_physicsCollisionEvent.entityB = b.entityId;\n\t_physicsCollisionEvent.normalX = contact.normalX;\n\t_physicsCollisionEvent.normalY = contact.normalY;\n\t_physicsCollisionEvent.depth = contact.depth;\n\tecs.eventBus.publish('physicsCollision', _physicsCollisionEvent);\n}\n\n// ==================== Plugin Factory ====================\n\n/**\n * Create a 2D physics plugin for ECSpresso.\n *\n * Provides:\n * - Semi-implicit Euler integration (gravity, forces, drag → velocity → position)\n * - Impulse-based collision response with restitution and friction\n * - physicsCollision events with contact normal and depth\n *\n * @example\n * ```typescript\n * const ecs = ECSpresso.create()\n * .withPlugin(createTransformPlugin())\n * .withPlugin(createPhysics2DPlugin({ gravity: { x: 0, y: 980 } }))\n * .withFixedTimestep(1/60)\n * .build();\n *\n * ecs.spawn({\n * ...createTransform(100, 200),\n * ...createRigidBody('dynamic', { mass: 1, restitution: 0.5 }),\n * velocity: { x: 0, y: 0 },\n * ...createAABBCollider(32, 32),\n * ...createCollisionLayer('player', ['ground']),\n * });\n * ```\n */\n\ntype Physics2DProvides<L extends string = never> = Physics2DOwnComponentTypes & CollisionComponentTypes<L>;\n\nexport function createPhysics2DPlugin<L extends string = never, G extends string = 'physics2D', CG extends string = never>(\n\toptions?: Physics2DPluginOptions<G, CG> & { layers?: LayerFactories<Record<L, readonly string[]>> },\n) {\n\tconst {\n\t\tgravity = { x: 0, y: 0 },\n\t\tsystemGroup = 'physics2D',\n\t\tcollisionSystemGroup,\n\t\tintegrationPriority = 1000,\n\t\tcollisionPriority = 900,\n\t\tphase = 'fixedUpdate',\n\t} = options ?? {};\n\n\treturn definePlugin('physics2D')\n\t\t.withComponentTypes<Physics2DProvides<L>>()\n\t\t.withEventTypes<Physics2DEventTypes>()\n\t\t.withResourceTypes<Physics2DResourceTypes>()\n\t\t.withLabels<'physics2D-integration' | 'physics2D-collision'>()\n\t\t.withGroups<G | CG>()\n\t\t.requires<TransformWorldConfig>()\n\t\t.install((world) => {\n\t\t\t// rigidBody requires velocity and force — auto-add with zero defaults\n\t\t\tworld.registerRequired('rigidBody', 'velocity', () => ({ x: 0, y: 0 }));\n\t\t\tworld.registerRequired('rigidBody', 'force', () => ({ x: 0, y: 0 }));\n\n\t\t\tworld.addResource('physicsConfig', { gravity: { x: gravity.x, y: gravity.y } });\n\n\t\t\t// ==================== Integration System ====================\n\n\t\t\tworld\n\t\t\t\t.addSystem('physics2D-integration')\n\t\t\t\t.setPriority(integrationPriority)\n\t\t\t\t.inPhase(phase)\n\t\t\t\t.inGroup(systemGroup)\n\t\t\t\t.addQuery('bodies', {\n\t\t\t\t\twith: ['localTransform', 'velocity', 'rigidBody', 'force'],\n\t\t\t\t})\n\t\t\t\t.setProcess(({ queries, dt, ecs }) => {\n\t\t\t\t\tconst { gravity: g } = ecs.getResource('physicsConfig');\n\t\t\t\t\tconst gx = g.x;\n\t\t\t\t\tconst gy = g.y;\n\n\t\t\t\t\tfor (const entity of queries.bodies) {\n\t\t\t\t\t\tconst { localTransform, velocity, rigidBody, force } = entity.components;\n\n\t\t\t\t\t\t// Static bodies: skip entirely\n\t\t\t\t\t\tif (rigidBody.type === 'static') continue;\n\n\t\t\t\t\t\t// Dynamic bodies: apply gravity, forces, drag\n\t\t\t\t\t\tif (rigidBody.type === 'dynamic') {\n\t\t\t\t\t\t\t// 1. Gravity\n\t\t\t\t\t\t\tvelocity.x += gx * rigidBody.gravityScale * dt;\n\t\t\t\t\t\t\tvelocity.y += gy * rigidBody.gravityScale * dt;\n\n\t\t\t\t\t\t\t// 2. Forces (F = ma → a = F/m)\n\t\t\t\t\t\t\tif (rigidBody.mass > 0 && rigidBody.mass !== Infinity) {\n\t\t\t\t\t\t\t\tvelocity.x += (force.x / rigidBody.mass) * dt;\n\t\t\t\t\t\t\t\tvelocity.y += (force.y / rigidBody.mass) * dt;\n\t\t\t\t\t\t\t}\n\n\t\t\t\t\t\t\t// 3. Drag\n\t\t\t\t\t\t\tif (rigidBody.drag > 0) {\n\t\t\t\t\t\t\t\tconst damping = Math.max(0, 1 - rigidBody.drag * dt);\n\t\t\t\t\t\t\t\tvelocity.x *= damping;\n\t\t\t\t\t\t\t\tvelocity.y *= damping;\n\t\t\t\t\t\t\t}\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\t// Both dynamic and kinematic: integrate position\n\t\t\t\t\t\tlocalTransform.x += velocity.x * dt;\n\t\t\t\t\t\tlocalTransform.y += velocity.y * dt;\n\n\t\t\t\t\t\t// Clear accumulated forces\n\t\t\t\t\t\tforce.x = 0;\n\t\t\t\t\t\tforce.y = 0;\n\n\t\t\t\t\t\tecs.markChanged(entity.id, 'localTransform');\n\t\t\t\t\t}\n\t\t\t\t});\n\n\t\t\t// ==================== Collision System ====================\n\n\t\t\tconst collisionSystem = world\n\t\t\t\t.addSystem('physics2D-collision')\n\t\t\t\t.setPriority(collisionPriority)\n\t\t\t\t.inPhase(phase)\n\t\t\t\t.inGroup(systemGroup);\n\n\t\t\tif (collisionSystemGroup) {\n\t\t\t\tcollisionSystem.inGroup(collisionSystemGroup);\n\t\t\t}\n\n\t\t\t// Grow-only pool of Physics2DColliderInfo slots reused across frames.\n\t\t\t// Steady-state: zero allocations per frame once the pool is warm.\n\t\t\tconst colliderPool: Physics2DColliderInfo<L>[] = [];\n\t\t\t// Reusable entityId → collider lookup for the broadphase path.\n\t\t\tconst broadphaseMap = new Map<number, Physics2DColliderInfo<L>>();\n\t\t\t// Cached spatial index reference (resolved once on first frame).\n\t\t\tlet cachedSI: SpatialIndex | undefined;\n\t\t\tlet siResolved = false;\n\n\t\t\tcollisionSystem\n\t\t\t\t.addQuery('collidables', {\n\t\t\t\t\twith: ['localTransform', 'rigidBody', 'velocity', 'collisionLayer'],\n\t\t\t\t})\n\t\t\t\t.setProcess(({ queries, ecs }) => {\n\t\t\t\t\tlet count = 0;\n\n\t\t\t\t\tfor (const entity of queries.collidables) {\n\t\t\t\t\t\tconst { localTransform, rigidBody, velocity, collisionLayer } = entity.components;\n\t\t\t\t\t\tconst aabb = ecs.getComponent(entity.id, 'aabbCollider');\n\t\t\t\t\t\tconst circle = aabb ? undefined : ecs.getComponent(entity.id, 'circleCollider');\n\t\t\t\t\t\tif (!aabb && !circle) continue;\n\n\t\t\t\t\t\tlet slot = colliderPool[count];\n\t\t\t\t\t\tif (!slot) {\n\t\t\t\t\t\t\tslot = {\n\t\t\t\t\t\t\t\tentityId: entity.id,\n\t\t\t\t\t\t\t\tx: localTransform.x,\n\t\t\t\t\t\t\t\ty: localTransform.y,\n\t\t\t\t\t\t\t\tlayer: collisionLayer.layer,\n\t\t\t\t\t\t\t\tcollidesWith: collisionLayer.collidesWith,\n\t\t\t\t\t\t\t\tshape: AABB_SHAPE,\n\t\t\t\t\t\t\t\thalfWidth: 0,\n\t\t\t\t\t\t\t\thalfHeight: 0,\n\t\t\t\t\t\t\t\tradius: 0,\n\t\t\t\t\t\t\t\trigidBody,\n\t\t\t\t\t\t\t\tvelocity,\n\t\t\t\t\t\t\t};\n\t\t\t\t\t\t\tcolliderPool[count] = slot;\n\t\t\t\t\t\t} else {\n\t\t\t\t\t\t\tslot.rigidBody = rigidBody;\n\t\t\t\t\t\t\tslot.velocity = velocity;\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\tif (!fillBaseColliderInfo(\n\t\t\t\t\t\t\tslot,\n\t\t\t\t\t\t\tentity.id, localTransform.x, localTransform.y,\n\t\t\t\t\t\t\tcollisionLayer.layer, collisionLayer.collidesWith,\n\t\t\t\t\t\t\taabb, circle,\n\t\t\t\t\t\t)) continue;\n\n\t\t\t\t\t\tcount++;\n\t\t\t\t\t}\n\n\t\t\t\t\tif (!siResolved) {\n\t\t\t\t\t\tcachedSI = ecs.tryGetResource<SpatialIndex>('spatialIndex');\n\t\t\t\t\t\tsiResolved = true;\n\t\t\t\t\t}\n\t\t\t\t\tdetectCollisions(colliderPool, count, broadphaseMap, cachedSI, resolvePhysicsContact, ecs);\n\t\t\t\t});\n\t\t});\n}\n",
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- "/**\n * Shared Narrowphase Module\n *\n * Provides contact-computing narrowphase tests and a generic collision\n * iteration pipeline used by both the collision plugin (event-only) and\n * the physics2D plugin (impulse response).\n */\n\nimport type { SpatialIndex } from './spatial-hash';\n\n// ==================== Contact ====================\n\n/**\n * Contact result from a narrowphase test. Normal points from A toward B.\n *\n * Narrowphase functions use this as an out-parameter: the caller owns the\n * struct, the function writes fields in place and returns `true` on hit.\n * The `onContact` callback in `detectCollisions` receives a shared module-\n * level instance — **subscribers must consume it synchronously and must not\n * retain the reference across frames**.\n */\nexport interface Contact {\n\tnormalX: number;\n\tnormalY: number;\n\t/** Penetration depth (positive = overlapping) */\n\tdepth: number;\n}\n\n/**\n * Module-level reusable Contact passed down from `detectCollisions` into\n * narrowphase tests and forwarded to the `onContact` callback. Reused across\n * every pair in every frame — zero allocation in the narrowphase hot path.\n */\nconst _sharedContact: Contact = { normalX: 0, normalY: 0, depth: 0 };\n\n// ==================== BaseColliderInfo ====================\n\n/** Collider shape discriminator for the flattened BaseColliderInfo layout. */\nexport const AABB_SHAPE = 0;\nexport const CIRCLE_SHAPE = 1;\nexport type ColliderShape = typeof AABB_SHAPE | typeof CIRCLE_SHAPE;\n\n/**\n * Minimum collider data shared by collision and physics bundles.\n *\n * Flat layout (no nested `aabb` / `circle` sub-objects): the `shape`\n * discriminator tells you whether to read `halfWidth`/`halfHeight`\n * (AABB) or `radius` (Circle). Unused fields are set to 0.\n *\n * This shape is pool-friendly — all fields are assigned in place each\n * frame without allocating nested objects.\n */\nexport interface BaseColliderInfo<L extends string = string> {\n\tentityId: number;\n\tx: number;\n\ty: number;\n\tlayer: L;\n\tcollidesWith: readonly L[];\n\tshape: ColliderShape;\n\thalfWidth: number;\n\thalfHeight: number;\n\tradius: number;\n}\n\n// ==================== Collider Construction ====================\n\n/**\n * Populate a `BaseColliderInfo` slot in place from raw component data.\n * Returns `true` if the slot was filled, `false` if the entity has no\n * collider (caller should skip it).\n *\n * If an entity has both AABB and circle colliders, AABB wins and only\n * the AABB offset is applied. This matches the dispatch precedence in\n * `computeContact`; the previous implementation stacked both offsets,\n * which was a bug.\n */\nexport function fillBaseColliderInfo<L extends string>(\n\tinfo: BaseColliderInfo<L>,\n\tentityId: number,\n\tx: number,\n\ty: number,\n\tlayer: L,\n\tcollidesWith: readonly L[],\n\taabb: { width: number; height: number; offsetX?: number; offsetY?: number } | undefined,\n\tcircle: { radius: number; offsetX?: number; offsetY?: number } | undefined,\n): boolean {\n\tinfo.entityId = entityId;\n\tinfo.layer = layer;\n\tinfo.collidesWith = collidesWith;\n\n\tif (aabb) {\n\t\tinfo.x = x + (aabb.offsetX ?? 0);\n\t\tinfo.y = y + (aabb.offsetY ?? 0);\n\t\tinfo.shape = AABB_SHAPE;\n\t\tinfo.halfWidth = aabb.width / 2;\n\t\tinfo.halfHeight = aabb.height / 2;\n\t\tinfo.radius = 0;\n\t\treturn true;\n\t}\n\n\tif (circle) {\n\t\tinfo.x = x + (circle.offsetX ?? 0);\n\t\tinfo.y = y + (circle.offsetY ?? 0);\n\t\tinfo.shape = CIRCLE_SHAPE;\n\t\tinfo.halfWidth = 0;\n\t\tinfo.halfHeight = 0;\n\t\tinfo.radius = circle.radius;\n\t\treturn true;\n\t}\n\n\treturn false;\n}\n\n// ==================== Spatial Index Lookup ====================\n\n/**\n * Retrieve the optional spatialIndex resource, returning undefined when absent.\n * Centralizes the cross-plugin typed lookup so individual plugins don't each\n * need to import SpatialIndex or repeat the tryGetResource pattern.\n */\nexport function tryGetSpatialIndex(\n\ttryGetResource: <T>(key: string) => T | undefined,\n): SpatialIndex | undefined {\n\treturn tryGetResource<SpatialIndex>('spatialIndex');\n}\n\n// ==================== Narrowphase Tests ====================\n\n/**\n * Write an AABB-AABB contact into `out`. Returns `true` if the shapes\n * overlap (out was filled), `false` otherwise.\n */\nexport function computeAABBvsAABB(\n\tax: number, ay: number, ahw: number, ahh: number,\n\tbx: number, by: number, bhw: number, bhh: number,\n\tout: Contact,\n): boolean {\n\tconst dx = bx - ax;\n\tconst dy = by - ay;\n\tconst overlapX = (ahw + bhw) - Math.abs(dx);\n\tconst overlapY = (ahh + bhh) - Math.abs(dy);\n\n\tif (overlapX <= 0 || overlapY <= 0) return false;\n\n\tif (overlapX < overlapY) {\n\t\tout.normalX = dx >= 0 ? 1 : -1;\n\t\tout.normalY = 0;\n\t\tout.depth = overlapX;\n\t\treturn true;\n\t}\n\tout.normalX = 0;\n\tout.normalY = dy >= 0 ? 1 : -1;\n\tout.depth = overlapY;\n\treturn true;\n}\n\nexport function computeCircleVsCircle(\n\tax: number, ay: number, ar: number,\n\tbx: number, by: number, br: number,\n\tout: Contact,\n): boolean {\n\tconst dx = bx - ax;\n\tconst dy = by - ay;\n\tconst distSq = dx * dx + dy * dy;\n\tconst radiusSum = ar + br;\n\n\tif (distSq >= radiusSum * radiusSum) return false;\n\n\tconst dist = Math.sqrt(distSq);\n\tif (dist === 0) {\n\t\tout.normalX = 1;\n\t\tout.normalY = 0;\n\t\tout.depth = radiusSum;\n\t\treturn true;\n\t}\n\tout.normalX = dx / dist;\n\tout.normalY = dy / dist;\n\tout.depth = radiusSum - dist;\n\treturn true;\n}\n\nexport function computeAABBvsCircle(\n\taabbX: number, aabbY: number, ahw: number, ahh: number,\n\tcircleX: number, circleY: number, radius: number,\n\tout: Contact,\n): boolean {\n\tconst closestX = Math.max(aabbX - ahw, Math.min(circleX, aabbX + ahw));\n\tconst closestY = Math.max(aabbY - ahh, Math.min(circleY, aabbY + ahh));\n\n\tconst dx = circleX - closestX;\n\tconst dy = circleY - closestY;\n\tconst distSq = dx * dx + dy * dy;\n\n\tif (distSq >= radius * radius) return false;\n\n\t// Circle center inside AABB\n\tif (distSq === 0) {\n\t\tconst pushLeft = (circleX - (aabbX - ahw));\n\t\tconst pushRight = ((aabbX + ahw) - circleX);\n\t\tconst pushUp = (circleY - (aabbY - ahh));\n\t\tconst pushDown = ((aabbY + ahh) - circleY);\n\t\tconst minPush = Math.min(pushLeft, pushRight, pushUp, pushDown);\n\n\t\tif (minPush === pushRight) {\n\t\t\tout.normalX = 1; out.normalY = 0; out.depth = pushRight + radius;\n\t\t\treturn true;\n\t\t}\n\t\tif (minPush === pushLeft) {\n\t\t\tout.normalX = -1; out.normalY = 0; out.depth = pushLeft + radius;\n\t\t\treturn true;\n\t\t}\n\t\tif (minPush === pushDown) {\n\t\t\tout.normalX = 0; out.normalY = 1; out.depth = pushDown + radius;\n\t\t\treturn true;\n\t\t}\n\t\tout.normalX = 0; out.normalY = -1; out.depth = pushUp + radius;\n\t\treturn true;\n\t}\n\n\tconst dist = Math.sqrt(distSq);\n\tout.normalX = dx / dist;\n\tout.normalY = dy / dist;\n\tout.depth = radius - dist;\n\treturn true;\n}\n\n// ==================== Contact Dispatcher ====================\n\n/**\n * Dispatch to the correct narrowphase function for the given pair and\n * write the contact into `out`. Returns `true` if the pair overlaps.\n */\nexport function computeContact(a: BaseColliderInfo, b: BaseColliderInfo, out: Contact): boolean {\n\tif (a.shape === AABB_SHAPE && b.shape === AABB_SHAPE) {\n\t\treturn computeAABBvsAABB(\n\t\t\ta.x, a.y, a.halfWidth, a.halfHeight,\n\t\t\tb.x, b.y, b.halfWidth, b.halfHeight,\n\t\t\tout,\n\t\t);\n\t}\n\n\tif (a.shape === CIRCLE_SHAPE && b.shape === CIRCLE_SHAPE) {\n\t\treturn computeCircleVsCircle(\n\t\t\ta.x, a.y, a.radius,\n\t\t\tb.x, b.y, b.radius,\n\t\t\tout,\n\t\t);\n\t}\n\n\tif (a.shape === AABB_SHAPE && b.shape === CIRCLE_SHAPE) {\n\t\treturn computeAABBvsCircle(\n\t\t\ta.x, a.y, a.halfWidth, a.halfHeight,\n\t\t\tb.x, b.y, b.radius,\n\t\t\tout,\n\t\t);\n\t}\n\n\t// a is Circle, b is AABB — compute as AABB-vs-Circle, then flip normal in place\n\tif (!computeAABBvsCircle(\n\t\tb.x, b.y, b.halfWidth, b.halfHeight,\n\t\ta.x, a.y, a.radius,\n\t\tout,\n\t)) return false;\n\tout.normalX = -out.normalX;\n\tout.normalY = -out.normalY;\n\treturn true;\n}\n\n// ==================== Collision Iteration ====================\n\n/** Module-level reusable set for broadphase candidates. */\nconst _broadphaseCandidates = new Set<number>();\n\nlet _bruteForceWarned = false;\nconst BRUTE_FORCE_WARN_THRESHOLD = 50;\n\n/**\n * Generic collision detection pipeline: brute-force or broadphase,\n * with layer filtering and contact computation.\n *\n * `count` is the number of live entries at the front of `colliders`.\n * The array itself may be a grow-only pool — only indices `[0, count)`\n * are iterated, so trailing pool slots are ignored.\n *\n * `workingMap` is a caller-owned `Map<number, I>` used by the broadphase\n * path as an entityId → collider lookup. It is cleared and repopulated on\n * each call; callers should allocate it once and pass the same instance\n * every frame. Unused by the brute-force path but still required so that\n * typed reuse is the default, not an opt-in.\n *\n * Uses a context parameter forwarded to the callback to avoid\n * per-frame closure allocation.\n */\nexport function detectCollisions<I extends BaseColliderInfo, C>(\n\tcolliders: I[],\n\tcount: number,\n\tworkingMap: Map<number, I>,\n\tspatialIndex: SpatialIndex | undefined,\n\tonContact: (a: I, b: I, contact: Contact, context: C) => void,\n\tcontext: C,\n): void {\n\tif (spatialIndex) {\n\t\tbroadphaseDetect(colliders, count, workingMap, spatialIndex, onContact, context);\n\t} else {\n\t\tbruteForceDetect(colliders, count, onContact, context);\n\t}\n}\n\nfunction bruteForceDetect<I extends BaseColliderInfo, C>(\n\tcolliders: I[],\n\tcount: number,\n\tonContact: (a: I, b: I, contact: Contact, context: C) => void,\n\tcontext: C,\n): void {\n\tif (!_bruteForceWarned && count >= BRUTE_FORCE_WARN_THRESHOLD) {\n\t\t_bruteForceWarned = true;\n\t\tconsole.warn(\n\t\t\t`[ecspresso] Collision detection is using O(n²) brute force with ${count} colliders. ` +\n\t\t\t`For better performance, install createSpatialIndexPlugin() alongside your collision or physics2D plugin.`,\n\t\t);\n\t}\n\n\tfor (let i = 0; i < count; i++) {\n\t\tconst a = colliders[i];\n\t\tif (!a) continue;\n\n\t\tfor (let j = i + 1; j < count; j++) {\n\t\t\tconst b = colliders[j];\n\t\t\tif (!b) continue;\n\n\t\t\tif (!a.collidesWith.includes(b.layer) && !b.collidesWith.includes(a.layer)) continue;\n\n\t\t\tif (!computeContact(a, b, _sharedContact)) continue;\n\n\t\t\tonContact(a, b, _sharedContact, context);\n\t\t}\n\t}\n}\n\nfunction broadphaseDetect<I extends BaseColliderInfo, C>(\n\tcolliders: I[],\n\tcount: number,\n\tcolliderMap: Map<number, I>,\n\tspatialIndex: SpatialIndex,\n\tonContact: (a: I, b: I, contact: Contact, context: C) => void,\n\tcontext: C,\n): void {\n\tcolliderMap.clear();\n\tfor (let i = 0; i < count; i++) {\n\t\tconst c = colliders[i];\n\t\tif (!c) continue;\n\t\tcolliderMap.set(c.entityId, c);\n\t}\n\n\tfor (let i = 0; i < count; i++) {\n\t\tconst a = colliders[i];\n\t\tif (!a) continue;\n\n\t\tconst aHalfW = a.shape === AABB_SHAPE ? a.halfWidth : a.radius;\n\t\tconst aHalfH = a.shape === AABB_SHAPE ? a.halfHeight : a.radius;\n\n\t\t_broadphaseCandidates.clear();\n\t\tspatialIndex.queryRectInto(\n\t\t\ta.x - aHalfW, a.y - aHalfH,\n\t\t\ta.x + aHalfW, a.y + aHalfH,\n\t\t\t_broadphaseCandidates,\n\t\t);\n\n\t\tfor (const bId of _broadphaseCandidates) {\n\t\t\tif (bId <= a.entityId) continue;\n\n\t\t\tconst b = colliderMap.get(bId);\n\t\t\tif (!b) continue;\n\n\t\t\tif (!a.collidesWith.includes(b.layer) && !b.collidesWith.includes(a.layer)) continue;\n\n\t\t\tif (!computeContact(a, b, _sharedContact)) continue;\n\n\t\t\tonContact(a, b, _sharedContact, context);\n\t\t}\n\t}\n}\n",
5
+ "/**\n * Physics 2D Plugin for ECSpresso\n *\n * Provides ECS-native arcade physics: gravity, forces, drag, semi-implicit Euler\n * integration, and impulse-based collision response with friction.\n *\n * Reuses collider types from the collision plugin for shape definitions.\n * Has its own collision detection in fixedUpdate for physics response;\n * the existing collision plugin can still run in postUpdate for game logic events.\n */\n\nimport { definePlugin } from 'ecspresso';\nimport type { SystemPhase } from 'ecspresso';\nimport type { TransformComponentTypes, TransformWorldConfig } from '../spatial/transform';\nimport type { CollisionComponentTypes, LayerFactories } from './collision';\nimport type { Vector2D } from 'ecspresso';\nimport { fillBaseColliderInfo, detectCollisions, AABB_SHAPE, type Contact, type BaseColliderInfo } from '../../utils/narrowphase';\nimport type { SpatialIndex } from '../../utils/spatial-hash';\n\n// ==================== Component Types ====================\n\n/**\n * Rigid body types for physics simulation.\n * - 'dynamic': Fully simulated (gravity, forces, collisions)\n * - 'kinematic': Moves via velocity only (ignores gravity/forces, immovable in collisions)\n * - 'static': Immovable (ignores gravity, forces, and velocity)\n */\nexport type BodyType = 'dynamic' | 'kinematic' | 'static';\n\n/**\n * Rigid body component controlling physics behavior.\n */\nexport interface RigidBody {\n\ttype: BodyType;\n\t/** Mass in arbitrary units. Affects force→acceleration. Infinity = immovable. */\n\tmass: number;\n\t/** Linear velocity damping coefficient (units/sec, 0 = none) */\n\tdrag: number;\n\t/** Bounciness 0–1 (0 = no bounce, 1 = perfectly elastic) */\n\trestitution: number;\n\t/** Surface friction coefficient 0–1 */\n\tfriction: number;\n\t/** Per-entity gravity multiplier (0 = no gravity) */\n\tgravityScale: number;\n}\n\n/**\n * Component types directly provided by the physics plugin.\n */\nexport interface Physics2DOwnComponentTypes {\n\trigidBody: RigidBody;\n\tvelocity: Vector2D;\n\tforce: Vector2D;\n}\n\n/**\n * Full component types available when using the physics plugin\n * (own components + transform + collision dependencies).\n * Convenience alias for consumer code.\n */\nexport interface Physics2DComponentTypes<L extends string = never> extends TransformComponentTypes, CollisionComponentTypes<L>, Physics2DOwnComponentTypes {}\n\n// ==================== Resource Types ====================\n\n/**\n * Physics configuration resource.\n */\nexport interface Physics2DConfig {\n\tgravity: Vector2D;\n}\n\nexport interface Physics2DResourceTypes {\n\tphysicsConfig: Physics2DConfig;\n}\n\n// ==================== Event Types ====================\n\n/**\n * Event emitted for each physics collision pair.\n *\n * Normal components are flattened (`normalX`/`normalY`) rather than nested\n * in a `Vector2D` to avoid a per-event allocation in the physics hot path.\n */\nexport interface Physics2DCollisionEvent {\n\tentityA: number;\n\tentityB: number;\n\t/** Unit normal X, pointing from A toward B */\n\tnormalX: number;\n\t/** Unit normal Y, pointing from A toward B */\n\tnormalY: number;\n\t/** Penetration depth (positive) */\n\tdepth: number;\n}\n\nexport interface Physics2DEventTypes {\n\tphysicsCollision: Physics2DCollisionEvent;\n}\n\n// ==================== Plugin Options ====================\n\nexport interface Physics2DPluginOptions<G extends string = 'physics2D', CG extends string = never> {\n\t/** World gravity vector (default: {x: 0, y: 0}) */\n\tgravity?: Vector2D;\n\t/** System group name (default: 'physics2D') */\n\tsystemGroup?: G;\n\t/** Additional group for the collision system only (default: none).\n\t * When set, the collision system belongs to both `systemGroup` and this group,\n\t * allowing independent enable/disable of collision detection. */\n\tcollisionSystemGroup?: CG;\n\t/** Priority for integration system (default: 1000) */\n\tintegrationPriority?: number;\n\t/** Priority for collision system (default: 900) */\n\tcollisionPriority?: number;\n\t/** Execution phase (default: 'fixedUpdate') */\n\tphase?: SystemPhase;\n}\n\n// ==================== Helper Functions ====================\n\nexport interface RigidBodyOptions {\n\tmass?: number;\n\tdrag?: number;\n\trestitution?: number;\n\tfriction?: number;\n\tgravityScale?: number;\n}\n\n/**\n * Create a rigid body + force component pair.\n * Static bodies automatically get mass=Infinity.\n */\nexport function createRigidBody(\n\ttype: BodyType,\n\toptions?: RigidBodyOptions,\n): { rigidBody: RigidBody; force: Vector2D } {\n\treturn {\n\t\trigidBody: {\n\t\t\ttype,\n\t\t\tmass: type === 'static' ? Infinity : (options?.mass ?? 1),\n\t\t\tdrag: options?.drag ?? 0,\n\t\t\trestitution: options?.restitution ?? 0,\n\t\t\tfriction: options?.friction ?? 0,\n\t\t\tgravityScale: options?.gravityScale ?? 1,\n\t\t},\n\t\tforce: { x: 0, y: 0 },\n\t};\n}\n\n/**\n * Create a force component with initial values.\n */\nexport function createForce(x: number, y: number): { force: Vector2D } {\n\treturn { force: { x, y } };\n}\n\n/**\n * Accumulate a force onto an entity's force component.\n */\nexport function applyForce(\n\tecs: { getComponent(id: number, name: 'force'): Vector2D | undefined },\n\tentityId: number,\n\tfx: number,\n\tfy: number,\n): void {\n\tconst force = ecs.getComponent(entityId, 'force');\n\tif (!force) return;\n\tforce.x += fx;\n\tforce.y += fy;\n}\n\n/**\n * Apply an instantaneous impulse: velocity += impulse / mass.\n */\nexport function applyImpulse(\n\tecs: {\n\t\tgetComponent(id: number, name: 'velocity'): Vector2D | undefined;\n\t\tgetComponent(id: number, name: 'rigidBody'): RigidBody | undefined;\n\t},\n\tentityId: number,\n\tix: number,\n\tiy: number,\n): void {\n\tconst velocity = ecs.getComponent(entityId, 'velocity');\n\tconst rigidBody = ecs.getComponent(entityId, 'rigidBody');\n\tif (!velocity || !rigidBody) return;\n\tif (rigidBody.mass === Infinity || rigidBody.mass === 0) return;\n\tvelocity.x += ix / rigidBody.mass;\n\tvelocity.y += iy / rigidBody.mass;\n}\n\n/**\n * Directly set an entity's velocity.\n */\nexport function setVelocity(\n\tecs: { getComponent(id: number, name: 'velocity'): Vector2D | undefined },\n\tentityId: number,\n\tvx: number,\n\tvy: number,\n): void {\n\tconst velocity = ecs.getComponent(entityId, 'velocity');\n\tif (!velocity) return;\n\tvelocity.x = vx;\n\tvelocity.y = vy;\n}\n\n// ==================== Internal: Collider Info ====================\n\ninterface Physics2DColliderInfo<L extends string = string> extends BaseColliderInfo<L> {\n\trigidBody: RigidBody;\n\tvelocity: Vector2D;\n}\n\n// ==================== Collision Response ====================\n\n/**\n * Module-level reusable physics collision event. Subscribers must consume\n * synchronously — same contract as the shared narrowphase Contact.\n */\nconst _physicsCollisionEvent: Physics2DCollisionEvent = {\n\tentityA: 0, entityB: 0, normalX: 0, normalY: 0, depth: 0,\n};\n\ninterface PhysicsEcsLike {\n\tgetComponent(id: number, name: 'localTransform'): { x: number; y: number } | undefined;\n\teventBus: { publish(event: 'physicsCollision', data: Physics2DCollisionEvent): void };\n\tmarkChanged(entityId: number, componentName: 'localTransform' | 'velocity'): void;\n}\n\n/**\n * Resolve a physics collision pair: position correction, impulse response, event.\n */\nfunction resolvePhysicsContact(\n\ta: Physics2DColliderInfo,\n\tb: Physics2DColliderInfo,\n\tcontact: Contact,\n\tecs: PhysicsEcsLike,\n): void {\n\tconst invMassA = (a.rigidBody.type === 'dynamic' && a.rigidBody.mass > 0 && a.rigidBody.mass !== Infinity)\n\t\t? 1 / a.rigidBody.mass\n\t\t: 0;\n\tconst invMassB = (b.rigidBody.type === 'dynamic' && b.rigidBody.mass > 0 && b.rigidBody.mass !== Infinity)\n\t\t? 1 / b.rigidBody.mass\n\t\t: 0;\n\tconst totalInvMass = invMassA + invMassB;\n\n\t// Position correction\n\tif (totalInvMass > 0) {\n\t\tconst correctionScale = contact.depth / totalInvMass;\n\n\t\tif (invMassA > 0) {\n\t\t\tconst ltA = ecs.getComponent(a.entityId, 'localTransform');\n\t\t\tif (!ltA) return;\n\t\t\tconst corrA = correctionScale * invMassA;\n\t\t\tltA.x -= corrA * contact.normalX;\n\t\t\tltA.y -= corrA * contact.normalY;\n\t\t\t// Sync cached position so subsequent pairs in this frame use corrected values\n\t\t\ta.x = ltA.x;\n\t\t\ta.y = ltA.y;\n\t\t\tecs.markChanged(a.entityId, 'localTransform');\n\t\t}\n\n\t\tif (invMassB > 0) {\n\t\t\tconst ltB = ecs.getComponent(b.entityId, 'localTransform');\n\t\t\tif (!ltB) return;\n\t\t\tconst corrB = correctionScale * invMassB;\n\t\t\tltB.x += corrB * contact.normalX;\n\t\t\tltB.y += corrB * contact.normalY;\n\t\t\tb.x = ltB.x;\n\t\t\tb.y = ltB.y;\n\t\t\tecs.markChanged(b.entityId, 'localTransform');\n\t\t}\n\n\t\t// Velocity response (impulse-based)\n\t\tconst relVelX = b.velocity.x - a.velocity.x;\n\t\tconst relVelY = b.velocity.y - a.velocity.y;\n\t\tconst velAlongNormal = relVelX * contact.normalX + relVelY * contact.normalY;\n\n\t\tif (velAlongNormal < 0) {\n\t\t\tconst restitution = Math.min(a.rigidBody.restitution, b.rigidBody.restitution);\n\t\t\tconst normalImpulse = -(1 + restitution) * velAlongNormal / totalInvMass;\n\n\t\t\ta.velocity.x -= normalImpulse * invMassA * contact.normalX;\n\t\t\ta.velocity.y -= normalImpulse * invMassA * contact.normalY;\n\t\t\tb.velocity.x += normalImpulse * invMassB * contact.normalX;\n\t\t\tb.velocity.y += normalImpulse * invMassB * contact.normalY;\n\n\t\t\t// Friction (tangential impulse)\n\t\t\tconst tangentX = relVelX - velAlongNormal * contact.normalX;\n\t\t\tconst tangentY = relVelY - velAlongNormal * contact.normalY;\n\t\t\tconst tangentSpeed = Math.sqrt(tangentX * tangentX + tangentY * tangentY);\n\n\t\t\tif (tangentSpeed > 1e-6) {\n\t\t\t\tconst tangentNX = tangentX / tangentSpeed;\n\t\t\t\tconst tangentNY = tangentY / tangentSpeed;\n\t\t\t\tconst friction = Math.sqrt(a.rigidBody.friction * b.rigidBody.friction);\n\t\t\t\tconst maxFrictionImpulse = friction * Math.abs(normalImpulse);\n\t\t\t\tconst tangentImpulse = Math.min(tangentSpeed / totalInvMass, maxFrictionImpulse);\n\n\t\t\t\ta.velocity.x += tangentImpulse * invMassA * tangentNX;\n\t\t\t\ta.velocity.y += tangentImpulse * invMassA * tangentNY;\n\t\t\t\tb.velocity.x -= tangentImpulse * invMassB * tangentNX;\n\t\t\t\tb.velocity.y -= tangentImpulse * invMassB * tangentNY;\n\t\t\t}\n\t\t}\n\n\t\tecs.markChanged(a.entityId, 'velocity');\n\t\tecs.markChanged(b.entityId, 'velocity');\n\t}\n\n\t_physicsCollisionEvent.entityA = a.entityId;\n\t_physicsCollisionEvent.entityB = b.entityId;\n\t_physicsCollisionEvent.normalX = contact.normalX;\n\t_physicsCollisionEvent.normalY = contact.normalY;\n\t_physicsCollisionEvent.depth = contact.depth;\n\tecs.eventBus.publish('physicsCollision', _physicsCollisionEvent);\n}\n\n// ==================== Plugin Factory ====================\n\n/**\n * Create a 2D physics plugin for ECSpresso.\n *\n * Provides:\n * - Semi-implicit Euler integration (gravity, forces, drag → velocity → position)\n * - Impulse-based collision response with restitution and friction\n * - physicsCollision events with contact normal and depth\n *\n * @example\n * ```typescript\n * const ecs = ECSpresso.create()\n * .withPlugin(createTransformPlugin())\n * .withPlugin(createPhysics2DPlugin({ gravity: { x: 0, y: 980 } }))\n * .withFixedTimestep(1/60)\n * .build();\n *\n * ecs.spawn({\n * ...createTransform(100, 200),\n * ...createRigidBody('dynamic', { mass: 1, restitution: 0.5 }),\n * velocity: { x: 0, y: 0 },\n * ...createAABBCollider(32, 32),\n * ...createCollisionLayer('player', ['ground']),\n * });\n * ```\n */\n\ntype Physics2DProvides<L extends string = never> = Physics2DOwnComponentTypes & CollisionComponentTypes<L>;\n\nexport function createPhysics2DPlugin<L extends string = never, G extends string = 'physics2D', CG extends string = never>(\n\toptions?: Physics2DPluginOptions<G, CG> & { layers?: LayerFactories<Record<L, readonly string[]>> },\n) {\n\tconst {\n\t\tgravity = { x: 0, y: 0 },\n\t\tsystemGroup = 'physics2D',\n\t\tcollisionSystemGroup,\n\t\tintegrationPriority = 1000,\n\t\tcollisionPriority = 900,\n\t\tphase = 'fixedUpdate',\n\t} = options ?? {};\n\n\treturn definePlugin('physics2D')\n\t\t.withComponentTypes<Physics2DProvides<L>>()\n\t\t.withEventTypes<Physics2DEventTypes>()\n\t\t.withResourceTypes<Physics2DResourceTypes>()\n\t\t.withLabels<'physics2D-integration' | 'physics2D-collision'>()\n\t\t.withGroups<G | CG>()\n\t\t.requires<TransformWorldConfig>()\n\t\t.install((world) => {\n\t\t\t// rigidBody requires velocity and force — auto-add with zero defaults\n\t\t\tworld.registerRequired('rigidBody', 'velocity', () => ({ x: 0, y: 0 }));\n\t\t\tworld.registerRequired('rigidBody', 'force', () => ({ x: 0, y: 0 }));\n\n\t\t\tworld.addResource('physicsConfig', { gravity: { x: gravity.x, y: gravity.y } });\n\n\t\t\t// ==================== Integration System ====================\n\n\t\t\tworld\n\t\t\t\t.addSystem('physics2D-integration')\n\t\t\t\t.setPriority(integrationPriority)\n\t\t\t\t.inPhase(phase)\n\t\t\t\t.inGroup(systemGroup)\n\t\t\t\t.addQuery('bodies', {\n\t\t\t\t\twith: ['localTransform', 'velocity', 'rigidBody', 'force'],\n\t\t\t\t})\n\t\t\t\t.setProcess(({ queries, dt, ecs }) => {\n\t\t\t\t\tconst { gravity: g } = ecs.getResource('physicsConfig');\n\t\t\t\t\tconst gx = g.x;\n\t\t\t\t\tconst gy = g.y;\n\n\t\t\t\t\t// TODO(perf): no early-out for \"sleeping\" dynamic bodies — a packed\n\t\t\t\t\t// pile of resting entities still runs gravity/drag/force-clear/\n\t\t\t\t\t// markChanged every step. A sleep flag on RigidBody that latches\n\t\t\t\t\t// after N frames of near-zero velocity (and clears on impulse or\n\t\t\t\t\t// applied force) would let most of a stabilized scene skip the\n\t\t\t\t\t// full per-entity body of this loop. Keep in sync with physics3D.\n\t\t\t\t\tfor (const entity of queries.bodies) {\n\t\t\t\t\t\tconst { localTransform, velocity, rigidBody, force } = entity.components;\n\n\t\t\t\t\t\t// Static bodies: skip entirely\n\t\t\t\t\t\tif (rigidBody.type === 'static') continue;\n\n\t\t\t\t\t\t// Dynamic bodies: apply gravity, forces, drag\n\t\t\t\t\t\tif (rigidBody.type === 'dynamic') {\n\t\t\t\t\t\t\t// 1. Gravity\n\t\t\t\t\t\t\tconst gsdt = rigidBody.gravityScale * dt;\n\t\t\t\t\t\t\tvelocity.x += gx * gsdt;\n\t\t\t\t\t\t\tvelocity.y += gy * gsdt;\n\n\t\t\t\t\t\t\t// 2. Forces (F = ma → a = F/m)\n\t\t\t\t\t\t\tconst mass = rigidBody.mass;\n\t\t\t\t\t\t\tif (mass > 0 && mass !== Infinity) {\n\t\t\t\t\t\t\t\tconst invMassDt = dt / mass;\n\t\t\t\t\t\t\t\tvelocity.x += force.x * invMassDt;\n\t\t\t\t\t\t\t\tvelocity.y += force.y * invMassDt;\n\t\t\t\t\t\t\t}\n\n\t\t\t\t\t\t\t// 3. Drag\n\t\t\t\t\t\t\tif (rigidBody.drag > 0) {\n\t\t\t\t\t\t\t\tconst damping = Math.max(0, 1 - rigidBody.drag * dt);\n\t\t\t\t\t\t\t\tvelocity.x *= damping;\n\t\t\t\t\t\t\t\tvelocity.y *= damping;\n\t\t\t\t\t\t\t}\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\t// Both dynamic and kinematic: integrate position\n\t\t\t\t\t\tlocalTransform.x += velocity.x * dt;\n\t\t\t\t\t\tlocalTransform.y += velocity.y * dt;\n\n\t\t\t\t\t\t// Clear accumulated forces\n\t\t\t\t\t\tforce.x = 0;\n\t\t\t\t\t\tforce.y = 0;\n\n\t\t\t\t\t\tecs.markChanged(entity.id, 'localTransform');\n\t\t\t\t\t}\n\t\t\t\t});\n\n\t\t\t// ==================== Collision System ====================\n\n\t\t\tconst collisionSystem = world\n\t\t\t\t.addSystem('physics2D-collision')\n\t\t\t\t.setPriority(collisionPriority)\n\t\t\t\t.inPhase(phase)\n\t\t\t\t.inGroup(systemGroup);\n\n\t\t\tif (collisionSystemGroup) {\n\t\t\t\tcollisionSystem.inGroup(collisionSystemGroup);\n\t\t\t}\n\n\t\t\t// Grow-only pool of Physics2DColliderInfo slots reused across frames.\n\t\t\t// Steady-state: zero allocations per frame once the pool is warm.\n\t\t\tconst colliderPool: Physics2DColliderInfo<L>[] = [];\n\t\t\t// Reusable entityId → collider lookup for the broadphase path.\n\t\t\tconst broadphaseMap = new Map<number, Physics2DColliderInfo<L>>();\n\t\t\t// Cached spatial index reference (resolved once on first frame).\n\t\t\tlet cachedSI: SpatialIndex | undefined;\n\t\t\tlet siResolved = false;\n\n\t\t\tcollisionSystem\n\t\t\t\t.addQuery('collidables', {\n\t\t\t\t\twith: ['localTransform', 'rigidBody', 'velocity', 'collisionLayer'],\n\t\t\t\t})\n\t\t\t\t.setProcess(({ queries, ecs }) => {\n\t\t\t\t\tlet count = 0;\n\n\t\t\t\t\t// TODO(perf): collider shape is discovered via two ecs.getComponent\n\t\t\t\t\t// calls per entity per frame because the query can't express\n\t\t\t\t\t// \"aabbCollider OR circleCollider\". Splitting into two queries\n\t\t\t\t\t// (aabb-bearing, circle-bearing) would eliminate these lookups at\n\t\t\t\t\t// the cost of two pool-fill passes. Keep in sync with physics3D.\n\t\t\t\t\tfor (const entity of queries.collidables) {\n\t\t\t\t\t\tconst { localTransform, rigidBody, velocity, collisionLayer } = entity.components;\n\t\t\t\t\t\tconst aabb = ecs.getComponent(entity.id, 'aabbCollider');\n\t\t\t\t\t\tconst circle = aabb ? undefined : ecs.getComponent(entity.id, 'circleCollider');\n\t\t\t\t\t\tif (!aabb && !circle) continue;\n\n\t\t\t\t\t\tlet slot = colliderPool[count];\n\t\t\t\t\t\tif (!slot) {\n\t\t\t\t\t\t\tslot = {\n\t\t\t\t\t\t\t\tentityId: entity.id,\n\t\t\t\t\t\t\t\tx: localTransform.x,\n\t\t\t\t\t\t\t\ty: localTransform.y,\n\t\t\t\t\t\t\t\tlayer: collisionLayer.layer,\n\t\t\t\t\t\t\t\tcollidesWith: collisionLayer.collidesWith,\n\t\t\t\t\t\t\t\tshape: AABB_SHAPE,\n\t\t\t\t\t\t\t\thalfWidth: 0,\n\t\t\t\t\t\t\t\thalfHeight: 0,\n\t\t\t\t\t\t\t\tradius: 0,\n\t\t\t\t\t\t\t\trigidBody,\n\t\t\t\t\t\t\t\tvelocity,\n\t\t\t\t\t\t\t};\n\t\t\t\t\t\t\tcolliderPool[count] = slot;\n\t\t\t\t\t\t} else {\n\t\t\t\t\t\t\tslot.rigidBody = rigidBody;\n\t\t\t\t\t\t\tslot.velocity = velocity;\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\tif (!fillBaseColliderInfo(\n\t\t\t\t\t\t\tslot,\n\t\t\t\t\t\t\tentity.id, localTransform.x, localTransform.y,\n\t\t\t\t\t\t\tcollisionLayer.layer, collisionLayer.collidesWith,\n\t\t\t\t\t\t\taabb, circle,\n\t\t\t\t\t\t)) continue;\n\n\t\t\t\t\t\tcount++;\n\t\t\t\t\t}\n\n\t\t\t\t\tif (!siResolved) {\n\t\t\t\t\t\tcachedSI = ecs.tryGetResource<SpatialIndex>('spatialIndex');\n\t\t\t\t\t\tsiResolved = true;\n\t\t\t\t\t}\n\t\t\t\t\tdetectCollisions(colliderPool, count, broadphaseMap, cachedSI, resolvePhysicsContact, ecs);\n\t\t\t\t});\n\t\t});\n}\n",
6
+ "/**\n * Shared Narrowphase Module\n *\n * Provides contact-computing narrowphase tests and a generic collision\n * iteration pipeline used by both the collision plugin (event-only) and\n * the physics2D plugin (impulse response).\n */\n\nimport type { SpatialIndex } from './spatial-hash';\n\n// ==================== Contact ====================\n\n/**\n * Contact result from a narrowphase test. Normal points from A toward B.\n *\n * Narrowphase functions use this as an out-parameter: the caller owns the\n * struct, the function writes fields in place and returns `true` on hit.\n * The `onContact` callback in `detectCollisions` receives a shared module-\n * level instance — **subscribers must consume it synchronously and must not\n * retain the reference across frames**.\n */\nexport interface Contact {\n\tnormalX: number;\n\tnormalY: number;\n\t/** Penetration depth (positive = overlapping) */\n\tdepth: number;\n}\n\n/**\n * Module-level reusable Contact passed down from `detectCollisions` into\n * narrowphase tests and forwarded to the `onContact` callback. Reused across\n * every pair in every frame — zero allocation in the narrowphase hot path.\n */\nconst _sharedContact: Contact = { normalX: 0, normalY: 0, depth: 0 };\n\n// ==================== BaseColliderInfo ====================\n\n/** Collider shape discriminator for the flattened BaseColliderInfo layout. */\nexport const AABB_SHAPE = 0;\nexport const CIRCLE_SHAPE = 1;\nexport type ColliderShape = typeof AABB_SHAPE | typeof CIRCLE_SHAPE;\n\n/**\n * Minimum collider data shared by collision and physics bundles.\n *\n * Flat layout (no nested `aabb` / `circle` sub-objects): the `shape`\n * discriminator tells you whether to read `halfWidth`/`halfHeight`\n * (AABB) or `radius` (Circle). Unused fields are set to 0.\n *\n * This shape is pool-friendly — all fields are assigned in place each\n * frame without allocating nested objects.\n */\nexport interface BaseColliderInfo<L extends string = string> {\n\tentityId: number;\n\tx: number;\n\ty: number;\n\tlayer: L;\n\tcollidesWith: readonly L[];\n\tshape: ColliderShape;\n\thalfWidth: number;\n\thalfHeight: number;\n\tradius: number;\n}\n\n// ==================== Collider Construction ====================\n\n/**\n * Populate a `BaseColliderInfo` slot in place from raw component data.\n * Returns `true` if the slot was filled, `false` if the entity has no\n * collider (caller should skip it).\n *\n * If an entity has both AABB and circle colliders, AABB wins and only\n * the AABB offset is applied. This matches the dispatch precedence in\n * `computeContact`; the previous implementation stacked both offsets,\n * which was a bug.\n */\nexport function fillBaseColliderInfo<L extends string>(\n\tinfo: BaseColliderInfo<L>,\n\tentityId: number,\n\tx: number,\n\ty: number,\n\tlayer: L,\n\tcollidesWith: readonly L[],\n\taabb: { width: number; height: number; offsetX?: number; offsetY?: number } | undefined,\n\tcircle: { radius: number; offsetX?: number; offsetY?: number } | undefined,\n): boolean {\n\tinfo.entityId = entityId;\n\tinfo.layer = layer;\n\tinfo.collidesWith = collidesWith;\n\n\tif (aabb) {\n\t\tinfo.x = x + (aabb.offsetX ?? 0);\n\t\tinfo.y = y + (aabb.offsetY ?? 0);\n\t\tinfo.shape = AABB_SHAPE;\n\t\tinfo.halfWidth = aabb.width / 2;\n\t\tinfo.halfHeight = aabb.height / 2;\n\t\tinfo.radius = 0;\n\t\treturn true;\n\t}\n\n\tif (circle) {\n\t\tinfo.x = x + (circle.offsetX ?? 0);\n\t\tinfo.y = y + (circle.offsetY ?? 0);\n\t\tinfo.shape = CIRCLE_SHAPE;\n\t\tinfo.halfWidth = 0;\n\t\tinfo.halfHeight = 0;\n\t\tinfo.radius = circle.radius;\n\t\treturn true;\n\t}\n\n\treturn false;\n}\n\n// ==================== Spatial Index Lookup ====================\n\n/**\n * Retrieve the optional spatialIndex resource, returning undefined when absent.\n * Centralizes the cross-plugin typed lookup so individual plugins don't each\n * need to import SpatialIndex or repeat the tryGetResource pattern.\n */\nexport function tryGetSpatialIndex(\n\ttryGetResource: <T>(key: string) => T | undefined,\n): SpatialIndex | undefined {\n\treturn tryGetResource<SpatialIndex>('spatialIndex');\n}\n\n// ==================== Narrowphase Tests ====================\n\n/**\n * Write an AABB-AABB contact into `out`. Returns `true` if the shapes\n * overlap (out was filled), `false` otherwise.\n */\nexport function computeAABBvsAABB(\n\tax: number, ay: number, ahw: number, ahh: number,\n\tbx: number, by: number, bhw: number, bhh: number,\n\tout: Contact,\n): boolean {\n\tconst dx = bx - ax;\n\tconst dy = by - ay;\n\tconst overlapX = (ahw + bhw) - Math.abs(dx);\n\tconst overlapY = (ahh + bhh) - Math.abs(dy);\n\n\tif (overlapX <= 0 || overlapY <= 0) return false;\n\n\tif (overlapX < overlapY) {\n\t\tout.normalX = dx >= 0 ? 1 : -1;\n\t\tout.normalY = 0;\n\t\tout.depth = overlapX;\n\t\treturn true;\n\t}\n\tout.normalX = 0;\n\tout.normalY = dy >= 0 ? 1 : -1;\n\tout.depth = overlapY;\n\treturn true;\n}\n\nexport function computeCircleVsCircle(\n\tax: number, ay: number, ar: number,\n\tbx: number, by: number, br: number,\n\tout: Contact,\n): boolean {\n\tconst dx = bx - ax;\n\tconst dy = by - ay;\n\tconst distSq = dx * dx + dy * dy;\n\tconst radiusSum = ar + br;\n\n\tif (distSq >= radiusSum * radiusSum) return false;\n\n\tconst dist = Math.sqrt(distSq);\n\tif (dist === 0) {\n\t\tout.normalX = 1;\n\t\tout.normalY = 0;\n\t\tout.depth = radiusSum;\n\t\treturn true;\n\t}\n\tout.normalX = dx / dist;\n\tout.normalY = dy / dist;\n\tout.depth = radiusSum - dist;\n\treturn true;\n}\n\nexport function computeAABBvsCircle(\n\taabbX: number, aabbY: number, ahw: number, ahh: number,\n\tcircleX: number, circleY: number, radius: number,\n\tout: Contact,\n): boolean {\n\tconst closestX = Math.max(aabbX - ahw, Math.min(circleX, aabbX + ahw));\n\tconst closestY = Math.max(aabbY - ahh, Math.min(circleY, aabbY + ahh));\n\n\tconst dx = circleX - closestX;\n\tconst dy = circleY - closestY;\n\tconst distSq = dx * dx + dy * dy;\n\n\tif (distSq >= radius * radius) return false;\n\n\t// Circle center inside AABB\n\tif (distSq === 0) {\n\t\tconst pushLeft = (circleX - (aabbX - ahw));\n\t\tconst pushRight = ((aabbX + ahw) - circleX);\n\t\tconst pushUp = (circleY - (aabbY - ahh));\n\t\tconst pushDown = ((aabbY + ahh) - circleY);\n\t\tconst minPush = Math.min(pushLeft, pushRight, pushUp, pushDown);\n\n\t\tif (minPush === pushRight) {\n\t\t\tout.normalX = 1; out.normalY = 0; out.depth = pushRight + radius;\n\t\t\treturn true;\n\t\t}\n\t\tif (minPush === pushLeft) {\n\t\t\tout.normalX = -1; out.normalY = 0; out.depth = pushLeft + radius;\n\t\t\treturn true;\n\t\t}\n\t\tif (minPush === pushDown) {\n\t\t\tout.normalX = 0; out.normalY = 1; out.depth = pushDown + radius;\n\t\t\treturn true;\n\t\t}\n\t\tout.normalX = 0; out.normalY = -1; out.depth = pushUp + radius;\n\t\treturn true;\n\t}\n\n\tconst dist = Math.sqrt(distSq);\n\tout.normalX = dx / dist;\n\tout.normalY = dy / dist;\n\tout.depth = radius - dist;\n\treturn true;\n}\n\n// ==================== Contact Dispatcher ====================\n\n/**\n * Dispatch to the correct narrowphase function for the given pair and\n * write the contact into `out`. Returns `true` if the pair overlaps.\n */\nexport function computeContact(a: BaseColliderInfo, b: BaseColliderInfo, out: Contact): boolean {\n\tif (a.shape === AABB_SHAPE && b.shape === AABB_SHAPE) {\n\t\treturn computeAABBvsAABB(\n\t\t\ta.x, a.y, a.halfWidth, a.halfHeight,\n\t\t\tb.x, b.y, b.halfWidth, b.halfHeight,\n\t\t\tout,\n\t\t);\n\t}\n\n\tif (a.shape === CIRCLE_SHAPE && b.shape === CIRCLE_SHAPE) {\n\t\treturn computeCircleVsCircle(\n\t\t\ta.x, a.y, a.radius,\n\t\t\tb.x, b.y, b.radius,\n\t\t\tout,\n\t\t);\n\t}\n\n\tif (a.shape === AABB_SHAPE && b.shape === CIRCLE_SHAPE) {\n\t\treturn computeAABBvsCircle(\n\t\t\ta.x, a.y, a.halfWidth, a.halfHeight,\n\t\t\tb.x, b.y, b.radius,\n\t\t\tout,\n\t\t);\n\t}\n\n\t// a is Circle, b is AABB — compute as AABB-vs-Circle, then flip normal in place\n\tif (!computeAABBvsCircle(\n\t\tb.x, b.y, b.halfWidth, b.halfHeight,\n\t\ta.x, a.y, a.radius,\n\t\tout,\n\t)) return false;\n\tout.normalX = -out.normalX;\n\tout.normalY = -out.normalY;\n\treturn true;\n}\n\n// ==================== Collision Iteration ====================\n\n/** Module-level reusable set for broadphase candidates. */\nconst _broadphaseCandidates = new Set<number>();\n\nlet _bruteForceWarned = false;\nconst BRUTE_FORCE_WARN_THRESHOLD = 50;\n\n/**\n * Generic collision detection pipeline: brute-force or broadphase,\n * with layer filtering and contact computation.\n *\n * `count` is the number of live entries at the front of `colliders`.\n * The array itself may be a grow-only pool — only indices `[0, count)`\n * are iterated, so trailing pool slots are ignored.\n *\n * `workingMap` is a caller-owned `Map<number, I>` used by the broadphase\n * path as an entityId → collider lookup. It is cleared and repopulated on\n * each call; callers should allocate it once and pass the same instance\n * every frame. Unused by the brute-force path but still required so that\n * typed reuse is the default, not an opt-in.\n *\n * Uses a context parameter forwarded to the callback to avoid\n * per-frame closure allocation.\n */\nexport function detectCollisions<I extends BaseColliderInfo, C>(\n\tcolliders: I[],\n\tcount: number,\n\tworkingMap: Map<number, I>,\n\tspatialIndex: SpatialIndex | undefined,\n\tonContact: (a: I, b: I, contact: Contact, context: C) => void,\n\tcontext: C,\n): void {\n\tif (spatialIndex) {\n\t\tbroadphaseDetect(colliders, count, workingMap, spatialIndex, onContact, context);\n\t} else {\n\t\tbruteForceDetect(colliders, count, onContact, context);\n\t}\n}\n\nfunction bruteForceDetect<I extends BaseColliderInfo, C>(\n\tcolliders: I[],\n\tcount: number,\n\tonContact: (a: I, b: I, contact: Contact, context: C) => void,\n\tcontext: C,\n): void {\n\tif (!_bruteForceWarned && count >= BRUTE_FORCE_WARN_THRESHOLD) {\n\t\t_bruteForceWarned = true;\n\t\tconsole.warn(\n\t\t\t`[ecspresso] Collision detection is using O(n²) brute force with ${count} colliders. ` +\n\t\t\t`For better performance, install createSpatialIndexPlugin() alongside your collision or physics2D plugin.`,\n\t\t);\n\t}\n\n\tfor (let i = 0; i < count; i++) {\n\t\tconst a = colliders[i];\n\t\tif (!a) continue;\n\n\t\tfor (let j = i + 1; j < count; j++) {\n\t\t\tconst b = colliders[j];\n\t\t\tif (!b) continue;\n\n\t\t\tif (!a.collidesWith.includes(b.layer) && !b.collidesWith.includes(a.layer)) continue;\n\n\t\t\tif (!computeContact(a, b, _sharedContact)) continue;\n\n\t\t\tonContact(a, b, _sharedContact, context);\n\t\t}\n\t}\n}\n\nfunction broadphaseDetect<I extends BaseColliderInfo, C>(\n\tcolliders: I[],\n\tcount: number,\n\tcolliderMap: Map<number, I>,\n\tspatialIndex: SpatialIndex,\n\tonContact: (a: I, b: I, contact: Contact, context: C) => void,\n\tcontext: C,\n): void {\n\tcolliderMap.clear();\n\tfor (let i = 0; i < count; i++) {\n\t\tconst c = colliders[i];\n\t\tif (!c) continue;\n\t\tcolliderMap.set(c.entityId, c);\n\t}\n\n\tfor (let i = 0; i < count; i++) {\n\t\tconst a = colliders[i];\n\t\tif (!a) continue;\n\n\t\tconst aHalfW = a.shape === AABB_SHAPE ? a.halfWidth : a.radius;\n\t\tconst aHalfH = a.shape === AABB_SHAPE ? a.halfHeight : a.radius;\n\n\t\t_broadphaseCandidates.clear();\n\t\tspatialIndex.queryRectInto(\n\t\t\ta.x - aHalfW, a.y - aHalfH,\n\t\t\ta.x + aHalfW, a.y + aHalfH,\n\t\t\t_broadphaseCandidates,\n\t\t);\n\n\t\t// TODO(perf): mirrors narrowphase3D — dense grids add every candidate\n\t\t// (including `a` itself and lower-ID entities) to the set before the\n\t\t// filter below discards ~half of them. Emitting only pairs with larger\n\t\t// IDs at query time would remove the post-hoc filter. Keep in sync with\n\t\t// whatever fix lands in narrowphase3D.\n\t\tfor (const bId of _broadphaseCandidates) {\n\t\t\tif (bId <= a.entityId) continue;\n\n\t\t\tconst b = colliderMap.get(bId);\n\t\t\tif (!b) continue;\n\n\t\t\tif (!a.collidesWith.includes(b.layer) && !b.collidesWith.includes(a.layer)) continue;\n\n\t\t\tif (!computeContact(a, b, _sharedContact)) continue;\n\n\t\t\tonContact(a, b, _sharedContact, context);\n\t\t}\n\t}\n}\n",
7
7
  "/**\n * Flocking Plugin for ECSpresso\n *\n * Classic boid simulation — separation, alignment, cohesion. Produces\n * emergent group movement from simple per-entity steering forces.\n *\n * Composes with the physics2D plugin: flocking computes steering forces\n * and feeds them through `applyForce()`. Physics integration handles\n * velocity and position updates.\n *\n * Requires the spatial-index plugin for efficient neighbor queries.\n * Entities must have a `circleCollider` (or `aabbCollider`) to appear\n * in spatial index queries.\n */\n\nimport { definePlugin, type BasePluginOptions } from 'ecspresso';\nimport type { WorldConfigFrom } from 'ecspresso';\nimport type { TransformWorldConfig } from '../spatial/transform';\nimport type { Physics2DOwnComponentTypes } from '../physics/physics2D';\nimport { applyForce } from '../physics/physics2D';\nimport type { SpatialIndexResourceTypes } from '../spatial/spatial-index';\n\n// ==================== Component Types ====================\n\n/**\n * Configures flocking behavior for a boid entity.\n *\n * Entities with this component must also have:\n * - `localTransform` + `worldTransform` (transform plugin)\n * - `velocity` + `force` + `rigidBody` (physics2D plugin)\n * - `circleCollider` with radius >= perceptionRadius (for spatial index queries)\n */\nexport interface FlockingAgent {\n\t/** Radius within which neighbors are detected */\n\tperceptionRadius: number;\n\t/** Separation weight — steer away from nearby neighbors (default: 1.5) */\n\tseparationWeight: number;\n\t/** Alignment weight — match average heading of neighbors (default: 1.0) */\n\talignmentWeight: number;\n\t/** Cohesion weight — steer toward average position of neighbors (default: 1.0) */\n\tcohesionWeight: number;\n\t/** Maximum steering force magnitude per frame */\n\tmaxForce: number;\n\t/** Maximum velocity magnitude (hard speed cap) */\n\tmaxSpeed: number;\n\t/** Flock group ID for independent flocks (default: 0) */\n\tflockGroup: number;\n}\n\n/**\n * Component types provided by the flocking plugin.\n */\nexport interface FlockingComponentTypes {\n\tflockingAgent: FlockingAgent;\n}\n\n// ==================== WorldConfig ====================\n\n/**\n * WorldConfig representing the flocking plugin's provided types.\n */\nexport type FlockingWorldConfig = WorldConfigFrom<FlockingComponentTypes>;\n\n// ==================== Plugin Options ====================\n\nexport interface FlockingPluginOptions<G extends string = 'ai'> extends BasePluginOptions<G> {\n\t/** Priority for the heading/speed-clamp system (default: 200) */\n\theadingPriority?: number;\n}\n\n// ==================== Helper Functions ====================\n\n/**\n * Create a flockingAgent component with sensible defaults.\n *\n * Entities must also have a `circleCollider` with radius >= perceptionRadius\n * for the spatial index to find them as neighbors.\n *\n * @param options Partial overrides for flocking agent fields\n * @returns Component object suitable for spreading into spawn()\n *\n * @example\n * ```typescript\n * ecs.spawn({\n * ...createFlockingAgent({ perceptionRadius: 80, maxSpeed: 150 }),\n * ...createRigidBody('dynamic', { mass: 1, drag: 1, gravityScale: 0 }),\n * ...createCircleCollider(80),\n * ...createGraphicsComponents(boidGraphics, { x: 100, y: 200 }),\n * });\n * ```\n */\nexport function createFlockingAgent(\n\toptions?: Partial<FlockingAgent>,\n): Pick<FlockingComponentTypes, 'flockingAgent'> {\n\treturn {\n\t\tflockingAgent: {\n\t\t\tperceptionRadius: options?.perceptionRadius ?? 100,\n\t\t\tseparationWeight: options?.separationWeight ?? 1.5,\n\t\t\talignmentWeight: options?.alignmentWeight ?? 1.0,\n\t\t\tcohesionWeight: options?.cohesionWeight ?? 1.0,\n\t\t\tmaxForce: options?.maxForce ?? 400,\n\t\t\tmaxSpeed: options?.maxSpeed ?? 200,\n\t\t\tflockGroup: options?.flockGroup ?? 0,\n\t\t},\n\t};\n}\n\n// ==================== Plugin Factory ====================\n\n// Module-scoped reusable set to reduce GC pressure in neighbor queries\nconst _neighborSet = new Set<number>();\n\nconst SPEED_EPSILON = 0.01;\n\n/**\n * Create a flocking plugin for ECSpresso.\n *\n * Installs two systems:\n * - `flocking-forces` — computes separation/alignment/cohesion and applies via applyForce()\n * - `flocking-heading` — clamps speed to maxSpeed and orients rotation to match velocity\n *\n * Requires the transform, physics2D, and spatial-index plugins to be installed.\n *\n * @example\n * ```typescript\n * const ecs = ECSpresso.create()\n * .withPlugin(createRenderer2DPlugin({ background: '#0a0a2e' }))\n * .withPlugin(createPhysics2DPlugin())\n * .withPlugin(createSpatialIndexPlugin())\n * .withPlugin(createFlockingPlugin())\n * .build();\n * ```\n */\nexport function createFlockingPlugin<G extends string = 'ai'>(\n\toptions?: FlockingPluginOptions<G>,\n) {\n\tconst {\n\t\tsystemGroup = 'ai',\n\t\tpriority = 500,\n\t\tphase = 'update',\n\t\theadingPriority = 200,\n\t} = options ?? {};\n\n\treturn definePlugin('flocking')\n\t\t.withComponentTypes<FlockingComponentTypes>()\n\t\t.withLabels<'flocking-forces' | 'flocking-heading'>()\n\t\t.withGroups<G>()\n\t\t.requires<\n\t\t\tTransformWorldConfig &\n\t\t\tWorldConfigFrom<Pick<Physics2DOwnComponentTypes, 'velocity' | 'force'>> &\n\t\t\tWorldConfigFrom<{}, {}, SpatialIndexResourceTypes>\n\t\t>()\n\t\t.install((world) => {\n\t\t\t// --- System 1: Compute and apply flocking forces ---\n\t\t\tworld\n\t\t\t\t.addSystem('flocking-forces')\n\t\t\t\t.setPriority(priority)\n\t\t\t\t.inPhase(phase)\n\t\t\t\t.inGroup(systemGroup)\n\t\t\t\t.addQuery('boids', {\n\t\t\t\t\twith: ['flockingAgent', 'worldTransform', 'velocity', 'force'],\n\t\t\t\t})\n\t\t\t\t.setProcess(({ queries, ecs }) => {\n\t\t\t\t\tconst spatialIndex = ecs.getResource('spatialIndex');\n\n\t\t\t\t\tfor (const entity of queries.boids) {\n\t\t\t\t\t\tconst { flockingAgent, worldTransform, velocity } = entity.components;\n\t\t\t\t\t\tconst { perceptionRadius, separationWeight, alignmentWeight, cohesionWeight, maxForce, flockGroup } = flockingAgent;\n\n\t\t\t\t\t\t// Query neighbors via spatial index\n\t\t\t\t\t\t_neighborSet.clear();\n\t\t\t\t\t\tspatialIndex.queryRadiusInto(worldTransform.x, worldTransform.y, perceptionRadius, _neighborSet);\n\n\t\t\t\t\t\t// Accumulate steering forces — all inline scalars, no allocations\n\t\t\t\t\t\tlet sepX = 0, sepY = 0, sepCount = 0;\n\t\t\t\t\t\tlet alignX = 0, alignY = 0, alignCount = 0;\n\t\t\t\t\t\tlet cohX = 0, cohY = 0, cohCount = 0;\n\n\t\t\t\t\t\tconst separationRadius = perceptionRadius * 0.5;\n\t\t\t\t\t\tconst separationRadiusSq = separationRadius * separationRadius;\n\n\t\t\t\t\t\tfor (const neighborId of _neighborSet) {\n\t\t\t\t\t\t\tif (neighborId === entity.id) continue;\n\n\t\t\t\t\t\t\tconst neighborAgent = ecs.getComponent(neighborId, 'flockingAgent');\n\t\t\t\t\t\t\tif (!neighborAgent) continue;\n\t\t\t\t\t\t\tif (neighborAgent.flockGroup !== flockGroup) continue;\n\n\t\t\t\t\t\t\tconst neighborTransform = ecs.getComponent(neighborId, 'worldTransform');\n\t\t\t\t\t\t\tif (!neighborTransform) continue;\n\n\t\t\t\t\t\t\tconst dx = worldTransform.x - neighborTransform.x;\n\t\t\t\t\t\t\tconst dy = worldTransform.y - neighborTransform.y;\n\t\t\t\t\t\t\tconst distSq = dx * dx + dy * dy;\n\n\t\t\t\t\t\t\t// Separation — closer neighbors push harder\n\t\t\t\t\t\t\tif (distSq > 0 && distSq < separationRadiusSq) {\n\t\t\t\t\t\t\t\tconst dist = Math.sqrt(distSq);\n\t\t\t\t\t\t\t\tsepX += dx / dist;\n\t\t\t\t\t\t\t\tsepY += dy / dist;\n\t\t\t\t\t\t\t\tsepCount++;\n\t\t\t\t\t\t\t}\n\n\t\t\t\t\t\t\t// Alignment — average velocity of neighbors\n\t\t\t\t\t\t\tconst neighborVel = ecs.getComponent(neighborId, 'velocity');\n\t\t\t\t\t\t\tif (neighborVel) {\n\t\t\t\t\t\t\t\talignX += neighborVel.x;\n\t\t\t\t\t\t\t\talignY += neighborVel.y;\n\t\t\t\t\t\t\t\talignCount++;\n\t\t\t\t\t\t\t}\n\n\t\t\t\t\t\t\t// Cohesion — average position of neighbors\n\t\t\t\t\t\t\tcohX += neighborTransform.x;\n\t\t\t\t\t\t\tcohY += neighborTransform.y;\n\t\t\t\t\t\t\tcohCount++;\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\tlet totalFx = 0, totalFy = 0;\n\n\t\t\t\t\t\t// Separation: steer away from crowded neighbors\n\t\t\t\t\t\tif (sepCount > 0) {\n\t\t\t\t\t\t\ttotalFx += (sepX / sepCount) * separationWeight;\n\t\t\t\t\t\t\ttotalFy += (sepY / sepCount) * separationWeight;\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\t// Alignment: steer toward average heading\n\t\t\t\t\t\tif (alignCount > 0) {\n\t\t\t\t\t\t\tconst avgVx = alignX / alignCount;\n\t\t\t\t\t\t\tconst avgVy = alignY / alignCount;\n\t\t\t\t\t\t\t// Desired = average velocity - current velocity\n\t\t\t\t\t\t\ttotalFx += (avgVx - velocity.x) * alignmentWeight;\n\t\t\t\t\t\t\ttotalFy += (avgVy - velocity.y) * alignmentWeight;\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\t// Cohesion: steer toward average position\n\t\t\t\t\t\tif (cohCount > 0) {\n\t\t\t\t\t\t\tconst avgPx = cohX / cohCount;\n\t\t\t\t\t\t\tconst avgPy = cohY / cohCount;\n\t\t\t\t\t\t\t// Desired = direction to center of mass - current velocity\n\t\t\t\t\t\t\ttotalFx += (avgPx - worldTransform.x - velocity.x) * cohesionWeight;\n\t\t\t\t\t\t\ttotalFy += (avgPy - worldTransform.y - velocity.y) * cohesionWeight;\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\t// Clamp total steering force to maxForce\n\t\t\t\t\t\tconst forceMagSq = totalFx * totalFx + totalFy * totalFy;\n\t\t\t\t\t\tif (forceMagSq > maxForce * maxForce) {\n\t\t\t\t\t\t\tconst forceMag = Math.sqrt(forceMagSq);\n\t\t\t\t\t\t\ttotalFx = (totalFx / forceMag) * maxForce;\n\t\t\t\t\t\t\ttotalFy = (totalFy / forceMag) * maxForce;\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\tapplyForce(ecs, entity.id, totalFx, totalFy);\n\t\t\t\t\t}\n\t\t\t\t});\n\n\t\t\t// --- System 2: Clamp speed and orient heading from velocity ---\n\t\t\tworld\n\t\t\t\t.addSystem('flocking-heading')\n\t\t\t\t.setPriority(headingPriority)\n\t\t\t\t.inPhase(phase)\n\t\t\t\t.inGroup(systemGroup)\n\t\t\t\t.addQuery('boids', {\n\t\t\t\t\twith: ['flockingAgent', 'velocity', 'localTransform'],\n\t\t\t\t})\n\t\t\t\t.setProcess(({ queries, ecs }) => {\n\t\t\t\t\tfor (const entity of queries.boids) {\n\t\t\t\t\t\tconst { flockingAgent, velocity, localTransform } = entity.components;\n\t\t\t\t\t\tconst { maxSpeed } = flockingAgent;\n\n\t\t\t\t\t\t// Clamp velocity to maxSpeed\n\t\t\t\t\t\tconst speedSq = velocity.x * velocity.x + velocity.y * velocity.y;\n\t\t\t\t\t\tif (speedSq > maxSpeed * maxSpeed) {\n\t\t\t\t\t\t\tconst speed = Math.sqrt(speedSq);\n\t\t\t\t\t\t\tvelocity.x = (velocity.x / speed) * maxSpeed;\n\t\t\t\t\t\t\tvelocity.y = (velocity.y / speed) * maxSpeed;\n\t\t\t\t\t\t\tecs.markChanged(entity.id, 'velocity');\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\t// Orient rotation to match velocity heading\n\t\t\t\t\t\tif (speedSq > SPEED_EPSILON * SPEED_EPSILON) {\n\t\t\t\t\t\t\tconst heading = Math.atan2(velocity.y, velocity.x);\n\t\t\t\t\t\t\tif (heading !== localTransform.rotation) {\n\t\t\t\t\t\t\t\tlocalTransform.rotation = heading;\n\t\t\t\t\t\t\t\tecs.markChanged(entity.id, 'localTransform');\n\t\t\t\t\t\t\t}\n\t\t\t\t\t\t}\n\t\t\t\t\t}\n\t\t\t\t});\n\t\t});\n}\n"
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  ],
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10
+ "debugId": "86EF73C7B0F16E1564756E2164756E21",
11
11
  "names": []
12
12
  }
package/dist/plugins/physics/collision.js CHANGED
@@ -1,4 +1,4 @@
1
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For better performance, install createSpatialIndexPlugin() alongside your collision or physics2D plugin.`);for(let V=0;V<J;V++){let O=z[V];if(!O)continue;for(let $=V+1;$<J;$++){let Q=z[$];if(!Q)continue;if(!O.collidesWith.includes(Q.layer)&&!Q.collidesWith.includes(O.layer))continue;if(!B(O,Q,W))continue;Z(O,Q,W,N)}}}function x(z,J,Z,N,V,O){Z.clear();for(let $=0;$<J;$++){let Q=z[$];if(!Q)continue;Z.set(Q.entityId,Q)}for(let $=0;$<J;$++){let Q=z[$];if(!Q)continue;let G=Q.shape===0?Q.halfWidth:Q.radius,D=Q.shape===0?Q.halfHeight:Q.radius;R.clear(),N.queryRectInto(Q.x-G,Q.y-D,Q.x+G,Q.y+D,R);for(let F of R){if(F<=Q.entityId)continue;let j=Z.get(F);if(!j)continue;if(!Q.collidesWith.includes(j.layer)&&!j.collidesWith.includes(Q.layer))continue;if(!B(Q,j,W))continue;V(Q,j,W,O)}}}function l(z,J,Z,N){let V={width:z,height:J};if(Z!==void 0)V.offsetX=Z;if(N!==void 0)V.offsetY=N;return{aabbCollider:V}}function c(z,J,Z){let N={radius:z};if(J!==void 0)N.offsetX=J;if(Z!==void 0)N.offsetY=Z;return{circleCollider:N}}function y(z,J){return{collisionLayer:{layer:z,collidesWith:J}}}function i(z){let J={};for(let Z of Object.keys(z)){let N=z[Z];J[Z]=()=>y(Z,N)}return J}function _(z){let J=z.indexOf(":");if(J===-1)throw Error(`Invalid collision pair key "${z}": must contain a colon separator (e.g. "player:enemy")`);let Z=z.slice(0,J),N=z.slice(J+1);if(Z===""||N==="")throw Error(`Invalid collision pair key "${z}": layer names must not be empty`);return[Z,N]}function t(z){let J=new Map,Z=new Set;for(let N of Object.keys(z))_(N),Z.add(N);for(let N of Object.keys(z)){let[V,O]=_(N),$=z[N];if(!$)continue;J.set(N,{callback:$,swapped:!1});let Q=`${O}:${V}`;if(Q!==N&&!Z.has(Q))J.set(Q,{callback:$,swapped:!0})}return function({data:V,ecs:O}){let $=J.get(V.layerA+":"+V.layerB);if(!$)return;if($.swapped)$.callback(V.entityB,V.entityA,O);else $.callback(V.entityA,V.entityB,O)}}var H={entityA:0,entityB:0,layerA:"",layerB:"",normalX:0,normalY:0,depth:0};function f(z,J,Z,N){H.entityA=z.entityId,H.entityB=J.entityId,H.layerA=z.layer,H.layerB=J.layer,H.normalX=Z.normalX,H.normalY=Z.normalY,H.depth=Z.depth,N.publish("collision",H)}function a(z){let{systemGroup:J="physics",priority:Z=0,phase:N="postUpdate"}=z;return p("collision").withComponentTypes().withEventTypes().withLabels().withGroups().requires().install((V)=>{let O=[],$=new Map,Q,G=!1;V.addSystem("collision-detection").setPriority(Z).inPhase(N).inGroup(J).addQuery("collidables",{with:["worldTransform","collisionLayer"]}).setProcess(({queries:D,ecs:F})=>{let j=0;for(let U of D.collidables){let{worldTransform:K,collisionLayer:T}=U.components,L=F.getComponent(U.id,"aabbCollider"),P=L?void 0:F.getComponent(U.id,"circleCollider");if(!L&&!P)continue;let q=O[j];if(!q)q={entityId:U.id,x:K.x,y:K.y,layer:T.layer,collidesWith:T.collidesWith,shape:S,halfWidth:0,halfHeight:0,radius:0},O[j]=q;if(!A(q,U.id,K.x,K.y,T.layer,T.collidesWith,L,P))continue;j++}if(!G)Q=F.tryGetResource("spatialIndex"),G=!0;I(O,j,$,Q,f,F.eventBus)})})}export{i as defineCollisionLayers,a as createCollisionPlugin,t as createCollisionPairHandler,y as createCollisionLayer,c as createCircleCollider,l as createAABBCollider};
1
+ var _=Object.defineProperty;var k=(z)=>z;function C(z,J){this[z]=k.bind(null,J)}var h=(z,J)=>{for(var Z in J)_(z,Z,{get:J[Z],enumerable:!0,configurable:!0,set:C.bind(J,Z)})};var d=(z,J)=>()=>(z&&(J=z(z=0)),J);var b=((z)=>typeof require<"u"?require:typeof Proxy<"u"?new Proxy(z,{get:(J,Z)=>(typeof require<"u"?require:J)[Z]}):z)(function(z){if(typeof require<"u")return require.apply(this,arguments);throw Error('Dynamic require of "'+z+'" is not supported')});import{definePlugin as p}from"ecspresso";var M={normalX:0,normalY:0,depth:0},S=0;function A(z,J,Z,N,V,O,$,Q){if(z.entityId=J,z.layer=V,z.collidesWith=O,$)return z.x=Z+($.offsetX??0),z.y=N+($.offsetY??0),z.shape=0,z.halfWidth=$.width/2,z.halfHeight=$.height/2,z.radius=0,!0;if(Q)return z.x=Z+(Q.offsetX??0),z.y=N+(Q.offsetY??0),z.shape=1,z.halfWidth=0,z.halfHeight=0,z.radius=Q.radius,!0;return!1}function X(z,J,Z,N,V,O,$,Q,U){let T=V-z,G=O-J,j=Z+$-Math.abs(T),F=N+Q-Math.abs(G);if(j<=0||F<=0)return!1;if(j<F)return U.normalX=T>=0?1:-1,U.normalY=0,U.depth=j,!0;return U.normalX=0,U.normalY=G>=0?1:-1,U.depth=F,!0}function Y(z,J,Z,N,V,O,$){let Q=N-z,U=V-J,T=Q*Q+U*U,G=Z+O;if(T>=G*G)return!1;let j=Math.sqrt(T);if(j===0)return $.normalX=1,$.normalY=0,$.depth=G,!0;return $.normalX=Q/j,$.normalY=U/j,$.depth=G-j,!0}function R(z,J,Z,N,V,O,$,Q){let U=Math.max(z-Z,Math.min(V,z+Z)),T=Math.max(J-N,Math.min(O,J+N)),G=V-U,j=O-T,F=G*G+j*j;if(F>=$*$)return!1;if(F===0){let g=V-(z-Z),H=z+Z-V,L=O-(J-N),K=J+N-O,P=Math.min(g,H,L,K);if(P===H)return Q.normalX=1,Q.normalY=0,Q.depth=H+$,!0;if(P===g)return Q.normalX=-1,Q.normalY=0,Q.depth=g+$,!0;if(P===K)return Q.normalX=0,Q.normalY=1,Q.depth=K+$,!0;return Q.normalX=0,Q.normalY=-1,Q.depth=L+$,!0}let q=Math.sqrt(F);return Q.normalX=G/q,Q.normalY=j/q,Q.depth=$-q,!0}function I(z,J,Z){if(z.shape===0&&J.shape===0)return X(z.x,z.y,z.halfWidth,z.halfHeight,J.x,J.y,J.halfWidth,J.halfHeight,Z);if(z.shape===1&&J.shape===1)return Y(z.x,z.y,z.radius,J.x,J.y,J.radius,Z);if(z.shape===0&&J.shape===1)return R(z.x,z.y,z.halfWidth,z.halfHeight,J.x,J.y,J.radius,Z);if(!R(J.x,J.y,J.halfWidth,J.halfHeight,z.x,z.y,z.radius,Z))return!1;return Z.normalX=-Z.normalX,Z.normalY=-Z.normalY,!0}var W=new Set,E=!1,w=50;function B(z,J,Z,N,V,O){if(N)x(z,J,Z,N,V,O);else v(z,J,V,O)}function v(z,J,Z,N){if(!E&&J>=w)E=!0,console.warn(`[ecspresso] Collision detection is using O(n²) brute force with ${J} colliders. For better performance, install createSpatialIndexPlugin() alongside your collision or physics2D plugin.`);for(let V=0;V<J;V++){let O=z[V];if(!O)continue;for(let $=V+1;$<J;$++){let Q=z[$];if(!Q)continue;if(!O.collidesWith.includes(Q.layer)&&!Q.collidesWith.includes(O.layer))continue;if(!I(O,Q,M))continue;Z(O,Q,M,N)}}}function x(z,J,Z,N,V,O){Z.clear();for(let $=0;$<J;$++){let Q=z[$];if(!Q)continue;Z.set(Q.entityId,Q)}for(let $=0;$<J;$++){let Q=z[$];if(!Q)continue;let U=Q.shape===0?Q.halfWidth:Q.radius,T=Q.shape===0?Q.halfHeight:Q.radius;W.clear(),N.queryRectInto(Q.x-U,Q.y-T,Q.x+U,Q.y+T,W);for(let G of W){if(G<=Q.entityId)continue;let j=Z.get(G);if(!j)continue;if(!Q.collidesWith.includes(j.layer)&&!j.collidesWith.includes(Q.layer))continue;if(!I(Q,j,M))continue;V(Q,j,M,O)}}}function l(z,J,Z,N){let V={width:z,height:J};if(Z!==void 0)V.offsetX=Z;if(N!==void 0)V.offsetY=N;return{aabbCollider:V}}function c(z,J,Z){let N={radius:z};if(J!==void 0)N.offsetX=J;if(Z!==void 0)N.offsetY=Z;return{circleCollider:N}}function y(z,J){return{collisionLayer:{layer:z,collidesWith:J}}}function i(z){let J={};for(let Z of Object.keys(z)){let N=z[Z];J[Z]=()=>y(Z,N)}return J}function m(z){let J=z.indexOf(":");if(J===-1)throw Error(`Invalid collision pair key "${z}": must contain a colon separator (e.g. "player:enemy")`);let Z=z.slice(0,J),N=z.slice(J+1);if(Z===""||N==="")throw Error(`Invalid collision pair key "${z}": layer names must not be empty`);return[Z,N]}function t(z){let J=new Map,Z=new Set;for(let N of Object.keys(z))m(N),Z.add(N);for(let N of Object.keys(z)){let[V,O]=m(N),$=z[N];if(!$)continue;J.set(N,{callback:$,swapped:!1});let Q=`${O}:${V}`;if(Q!==N&&!Z.has(Q))J.set(Q,{callback:$,swapped:!0})}return function({data:V,ecs:O}){let $=J.get(V.layerA+":"+V.layerB);if(!$)return;if($.swapped)$.callback(V.entityB,V.entityA,O);else $.callback(V.entityA,V.entityB,O)}}var D={entityA:0,entityB:0,layerA:"",layerB:"",normalX:0,normalY:0,depth:0};function f(z,J,Z,N){D.entityA=z.entityId,D.entityB=J.entityId,D.layerA=z.layer,D.layerB=J.layer,D.normalX=Z.normalX,D.normalY=Z.normalY,D.depth=Z.depth,N.publish("collision",D)}function a(z){let{systemGroup:J="physics",priority:Z=0,phase:N="postUpdate"}=z;return p("collision").withComponentTypes().withEventTypes().withLabels().withGroups().requires().install((V)=>{let O=[],$=new Map,Q,U=!1;V.addSystem("collision-detection").setPriority(Z).inPhase(N).inGroup(J).addQuery("collidables",{with:["worldTransform","collisionLayer"]}).setProcess(({queries:T,ecs:G})=>{let j=0;for(let F of T.collidables){let{worldTransform:q,collisionLayer:g}=F.components,H=G.getComponent(F.id,"aabbCollider"),L=H?void 0:G.getComponent(F.id,"circleCollider");if(!H&&!L)continue;let K=O[j];if(!K)K={entityId:F.id,x:q.x,y:q.y,layer:g.layer,collidesWith:g.collidesWith,shape:S,halfWidth:0,halfHeight:0,radius:0},O[j]=K;if(!A(K,F.id,q.x,q.y,g.layer,g.collidesWith,H,L))continue;j++}if(!U)Q=G.tryGetResource("spatialIndex"),U=!0;B(O,j,$,Q,f,G.eventBus)})})}export{i as defineCollisionLayers,a as createCollisionPlugin,t as createCollisionPairHandler,y as createCollisionLayer,c as createCircleCollider,l as createAABBCollider};
2
2
 
3
- //# debugId=14EE1E3B72FCB54264756E2164756E21
3
+ //# debugId=399824DE1BC8F1D064756E2164756E21
4
4
  //# sourceMappingURL=collision.js.map
package/dist/plugins/physics/collision.js.map CHANGED
@@ -2,10 +2,10 @@
2
2
  "version": 3,
3
3
  "sources": ["../src/plugins/physics/collision.ts", "../src/utils/narrowphase.ts"],
4
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  "sourcesContent": [
5
- "/**\n * Collision Plugin for ECSpresso\n *\n * Provides layer-based collision detection with events.\n * Uses worldTransform for position (world-space collision).\n * Supports AABB and circle colliders.\n */\n\nimport { definePlugin, type BasePluginOptions } from 'ecspresso';\nimport type { TransformWorldConfig } from '../spatial/transform';\nimport { fillBaseColliderInfo, detectCollisions, AABB_SHAPE, type Contact, type BaseColliderInfo } from '../../utils/narrowphase';\nimport type { SpatialIndex } from '../../utils/spatial-hash';\n\n// ==================== Component Types ====================\n\n/**\n * Axis-Aligned Bounding Box collider.\n */\nexport interface AABBCollider {\n\t/** Width of the bounding box */\n\twidth: number;\n\t/** Height of the bounding box */\n\theight: number;\n\t/** X offset from entity position (default: 0) */\n\toffsetX?: number;\n\t/** Y offset from entity position (default: 0) */\n\toffsetY?: number;\n}\n\n/**\n * Circle collider.\n */\nexport interface CircleCollider {\n\t/** Radius of the circle */\n\tradius: number;\n\t/** X offset from entity position (default: 0) */\n\toffsetX?: number;\n\t/** Y offset from entity position (default: 0) */\n\toffsetY?: number;\n}\n\n/**\n * Collision layer configuration.\n */\nexport interface CollisionLayer<L extends string = never> {\n\t/** The layer this entity belongs to */\n\tlayer: L;\n\t/** Layers this entity can collide with */\n\tcollidesWith: readonly L[];\n}\n\n/**\n * Component types provided by the collision plugin.\n * Included automatically via `.withPlugin(createCollisionPlugin())`.\n *\n * @example\n * ```typescript\n * const ecs = ECSpresso.create()\n * .withPlugin(createCollisionPlugin())\n * .withComponentTypes<{ sprite: Sprite; enemy: boolean }>()\n * .build();\n * ```\n */\nexport interface CollisionComponentTypes<L extends string = never> {\n\taabbCollider: AABBCollider;\n\tcircleCollider: CircleCollider;\n\tcollisionLayer: CollisionLayer<L>;\n}\n\n// ==================== Event Types ====================\n\n/**\n * Event fired when two entities collide.\n *\n * Normal components are flattened (`normalX`/`normalY`) rather than nested\n * in a sub-object to avoid a per-event allocation in the collision hot path.\n */\nexport interface CollisionEvent<L extends string = never> {\n\t/** First entity in the collision */\n\tentityA: number;\n\t/** Second entity in the collision */\n\tentityB: number;\n\t/** Layer of the first entity */\n\tlayerA: L;\n\t/** Layer of the second entity */\n\tlayerB: L;\n\t/** Contact normal X, pointing from entityA toward entityB */\n\tnormalX: number;\n\t/** Contact normal Y, pointing from entityA toward entityB */\n\tnormalY: number;\n\t/** Penetration depth (positive = overlapping) */\n\tdepth: number;\n}\n\n/**\n * Event types provided by the collision plugin.\n */\nexport interface CollisionEventTypes<L extends string = never> {\n\tcollision: CollisionEvent<L>;\n}\n\n// ==================== Plugin Options ====================\n\n/**\n * Configuration options for the collision plugin.\n */\nexport interface CollisionPluginOptions<G extends string = 'physics'> extends BasePluginOptions<G> {\n\t/** Name of the collision event (default: 'collision') */\n\tcollisionEventName?: string;\n}\n\n// ==================== Helper Functions ====================\n\n/**\n * Create an AABB collider component.\n *\n * @param width Width of the bounding box\n * @param height Height of the bounding box\n * @param offsetX X offset from entity position\n * @param offsetY Y offset from entity position\n * @returns Component object suitable for spreading into spawn()\n *\n * @example\n * ```typescript\n * ecs.spawn({\n * ...createTransform(100, 200),\n * ...createAABBCollider(50, 30),\n * });\n * ```\n */\nexport function createAABBCollider(\n\twidth: number,\n\theight: number,\n\toffsetX?: number,\n\toffsetY?: number\n): { aabbCollider: AABBCollider } {\n\tconst collider: AABBCollider = { width, height };\n\tif (offsetX !== undefined) collider.offsetX = offsetX;\n\tif (offsetY !== undefined) collider.offsetY = offsetY;\n\treturn { aabbCollider: collider };\n}\n\n/**\n * Create a circle collider component.\n *\n * @param radius Radius of the circle\n * @param offsetX X offset from entity position\n * @param offsetY Y offset from entity position\n * @returns Component object suitable for spreading into spawn()\n *\n * @example\n * ```typescript\n * ecs.spawn({\n * ...createTransform(100, 200),\n * ...createCircleCollider(25),\n * });\n * ```\n */\nexport function createCircleCollider(\n\tradius: number,\n\toffsetX?: number,\n\toffsetY?: number\n): { circleCollider: CircleCollider } {\n\tconst collider: CircleCollider = { radius };\n\tif (offsetX !== undefined) collider.offsetX = offsetX;\n\tif (offsetY !== undefined) collider.offsetY = offsetY;\n\treturn { circleCollider: collider };\n}\n\n/**\n * Create a collision layer component.\n *\n * @param layer The layer this entity belongs to\n * @param collidesWith Layers this entity can collide with\n * @returns Component object suitable for spreading into spawn()\n *\n * @example\n * ```typescript\n * ecs.spawn({\n * ...createTransform(100, 200),\n * ...createAABBCollider(50, 30),\n * ...createCollisionLayer('player', ['enemy', 'obstacle']),\n * });\n * ```\n */\nexport function createCollisionLayer<L extends string>(\n\tlayer: L,\n\tcollidesWith: readonly L[]\n): Pick<CollisionComponentTypes<L>, 'collisionLayer'> {\n\treturn {\n\t\tcollisionLayer: { layer, collidesWith },\n\t};\n}\n\n/**\n * Layer factory result from defineCollisionLayers.\n */\nexport type LayerFactories<T extends Record<string, readonly string[]>> = {\n\t[K in keyof T]: () => Pick<CollisionComponentTypes<Extract<keyof T, string>>, 'collisionLayer'>;\n};\n\n/**\n * Extract layer names from a `defineCollisionLayers` result for use with\n * `createCollisionPairHandler`'s `L` type parameter.\n *\n * @example\n * ```typescript\n * const layers = defineCollisionLayers({ player: ['enemy'], enemy: ['player'] });\n * type Layer = LayersOf<typeof layers>;\n * const handler = createCollisionPairHandler<ECS, Layer>({\n * 'player:enemy': (playerId, enemyId, ecs) => { ... },\n * });\n * ```\n */\nexport type LayersOf<T> = Extract<keyof T, string>;\n\n/**\n * Define collision layer relationships and get factory functions.\n *\n * @param rules Object mapping layer names to arrays of layers they collide with\n * @returns Object with factory functions for each layer\n *\n * @example\n * ```typescript\n * const layers = defineCollisionLayers({\n * player: ['enemy', 'enemyProjectile'],\n * playerProjectile: ['enemy'],\n * enemy: ['playerProjectile'],\n * enemyProjectile: ['player'],\n * });\n *\n * // Usage\n * ecs.spawn({\n * ...createTransform(100, 200),\n * ...createAABBCollider(50, 30),\n * ...layers.player(),\n * });\n * ```\n */\n/**\n * Validates that all `collidesWith` values reference actual layer keys.\n * Catches typos at compile time.\n */\ntype ValidateCollidesWith<T> = {\n\t[K in keyof T]: T[K] extends readonly (infer V)[]\n\t\t? [V] extends [Extract<keyof T, string>] ? T[K] : readonly Extract<keyof T, string>[]\n\t\t: never;\n};\n\nexport function defineCollisionLayers<const T extends Record<string, readonly string[]>>(\n\trules: T & ValidateCollidesWith<T>\n): LayerFactories<T> {\n\ttype L = Extract<keyof T, string>;\n\tconst factories = {} as LayerFactories<T>;\n\n\tfor (const layer of Object.keys(rules) as Array<L>) {\n\t\tconst collidesWith = rules[layer] as readonly L[];\n\t\tfactories[layer] = () => createCollisionLayer<L>(layer, collidesWith);\n\t}\n\n\treturn factories;\n}\n\n// ==================== Collision Pair Handler ====================\n\n/**\n * Callback for a collision pair handler.\n *\n * @param firstEntityId Entity belonging to the first layer in the pair key\n * @param secondEntityId Entity belonging to the second layer in the pair key\n * @param ecs The ECS world instance (passed through from the subscriber)\n */\nexport type CollisionPairCallback<W = unknown> = (\n\tfirstEntityId: number,\n\tsecondEntityId: number,\n\tecs: W,\n) => void;\n\ninterface PairEntry<W> {\n\tcallback: CollisionPairCallback<W>;\n\tswapped: boolean;\n}\n\nfunction parsePairKey(key: string): [string, string] {\n\tconst colonIndex = key.indexOf(':');\n\tif (colonIndex === -1) {\n\t\tthrow new Error(`Invalid collision pair key \"${key}\": must contain a colon separator (e.g. \"player:enemy\")`);\n\t}\n\tconst layerA = key.slice(0, colonIndex);\n\tconst layerB = key.slice(colonIndex + 1);\n\tif (layerA === '' || layerB === '') {\n\t\tthrow new Error(`Invalid collision pair key \"${key}\": layer names must not be empty`);\n\t}\n\treturn [layerA, layerB];\n}\n\n/**\n * Create a collision pair handler that routes collision events to\n * layer-pair-specific callbacks.\n *\n * Registering `\"a:b\"` automatically handles both `(layerA=a, layerB=b)` and\n * `(layerA=b, layerB=a)`. Entity arguments are swapped to match the declared\n * key order. If both `\"a:b\"` and `\"b:a\"` are explicitly registered, each gets\n * its own handler with no implicit reverse.\n *\n * @typeParam W - The ECS world type (e.g. `ECSpresso<C, E, R>`). Defaults to `unknown`.\n * @typeParam L - Union of valid layer names. Defaults to `string`.\n * Provide specific layer names for compile-time key validation:\n * `createCollisionPairHandler<ECS, keyof typeof layers>({...})`\n *\n * @param pairs Object mapping `\"layerA:layerB\"` keys to callbacks\n * @returns A dispatch function to call with collision event data and ECS instance\n *\n * @example\n * ```typescript\n * // Basic usage:\n * const handler = createCollisionPairHandler<ECS>({\n * 'playerProjectile:enemy': (projectileId, enemyId, ecs) => {\n * ecs.commands.removeEntity(projectileId);\n * },\n * });\n *\n * // With layer name validation:\n * const layers = defineCollisionLayers({ player: ['enemy'], enemy: ['player'] });\n * type Layer = LayersOf<typeof layers>;\n * const handler = createCollisionPairHandler<ECS, Layer>({\n * 'player:enemy': (playerId, enemyId, ecs) => { ... },\n * });\n *\n * ecs.eventBus.subscribe('collision', (data) => handler({ data, ecs }));\n * ```\n */\nexport function createCollisionPairHandler<W = unknown, L extends string = string>(\n\tpairs: { [K in `${L}:${L}`]?: CollisionPairCallback<W> }\n): (ctx: { data: CollisionEvent<L>; ecs: W }) => void;\nexport function createCollisionPairHandler<W = unknown>(\n\tpairs: Record<string, CollisionPairCallback<W> | undefined>\n): (ctx: { data: CollisionEvent<string>; ecs: W }) => void {\n\tconst lookup = new Map<string, PairEntry<W>>();\n\tconst explicitKeys = new Set<string>();\n\n\t// First pass: collect all explicit keys\n\tfor (const key of Object.keys(pairs)) {\n\t\tparsePairKey(key); // validate\n\t\texplicitKeys.add(key);\n\t}\n\n\t// Second pass: build lookup with forward + conditional reverse entries\n\tfor (const key of Object.keys(pairs)) {\n\t\tconst [layerA, layerB] = parsePairKey(key);\n\t\tconst callback = pairs[key];\n\t\tif (!callback) continue;\n\n\t\t// Forward entry\n\t\tlookup.set(key, { callback, swapped: false });\n\n\t\t// Reverse entry (only if the reverse key wasn't explicitly registered\n\t\t// and it's not a self-collision where forward === reverse)\n\t\tconst reverseKey = `${layerB}:${layerA}`;\n\t\tif (reverseKey !== key && !explicitKeys.has(reverseKey)) {\n\t\t\tlookup.set(reverseKey, { callback, swapped: true });\n\t\t}\n\t}\n\n\treturn function collisionPairDispatch({ data: event, ecs }: { data: CollisionEvent<string>; ecs: W }): void {\n\t\tconst entry = lookup.get(event.layerA + ':' + event.layerB);\n\t\tif (!entry) return;\n\n\t\tif (entry.swapped) {\n\t\t\tentry.callback(event.entityB, event.entityA, ecs);\n\t\t} else {\n\t\t\tentry.callback(event.entityA, event.entityB, ecs);\n\t\t}\n\t};\n}\n\n// ==================== Dependency Types ====================\n\n// ==================== Module-level Collision Callback ====================\n\ninterface CollisionEventBus<L extends string> {\n\tpublish(event: 'collision', data: CollisionEvent<L>): void;\n}\n\n/**\n * Module-level reusable collision event. Subscribers must consume\n * synchronously — same contract as the shared narrowphase Contact.\n */\nconst _collisionEvent: CollisionEvent<string> = {\n\tentityA: 0, entityB: 0, layerA: '', layerB: '',\n\tnormalX: 0, normalY: 0, depth: 0,\n};\n\nfunction onCollisionDetected<L extends string>(\n\ta: BaseColliderInfo<L>,\n\tb: BaseColliderInfo<L>,\n\tcontact: Contact,\n\teventBus: CollisionEventBus<L>,\n): void {\n\t_collisionEvent.entityA = a.entityId;\n\t_collisionEvent.entityB = b.entityId;\n\t_collisionEvent.layerA = a.layer;\n\t_collisionEvent.layerB = b.layer;\n\t_collisionEvent.normalX = contact.normalX;\n\t_collisionEvent.normalY = contact.normalY;\n\t_collisionEvent.depth = contact.depth;\n\teventBus.publish('collision', _collisionEvent as CollisionEvent<L>);\n}\n\n// ==================== Plugin Factory ====================\n\n/**\n * Create a collision plugin for ECSpresso.\n *\n * This plugin provides:\n * - Collision detection between entities with colliders\n * - AABB-AABB, circle-circle, and AABB-circle collision\n * - Layer-based filtering for collision pairs\n * - Deduplication of A-B / B-A collisions\n * - Automatic broadphase acceleration when spatialIndex resource is present\n *\n * Uses worldTransform for position (world-space collision detection).\n * The `layers` parameter is required for type inference — at runtime the\n * plugin does not consume it.\n *\n * @example\n * ```typescript\n * const layers = defineCollisionLayers({ player: ['enemy'], enemy: ['player'] });\n * const ecs = ECSpresso\n * .create()\n * .withPlugin(createTransformPlugin())\n * .withPlugin(createCollisionPlugin({ layers }))\n * .build();\n *\n * // Entity with collision\n * ecs.spawn({\n * ...createTransform(100, 200),\n * ...createAABBCollider(50, 30),\n * ...layers.player(),\n * });\n * ```\n */\nexport function createCollisionPlugin<L extends string, G extends string = 'physics'>(\n\toptions: CollisionPluginOptions<G> & { layers: LayerFactories<Record<L, readonly string[]>> }\n) {\n\tconst {\n\t\tsystemGroup = 'physics',\n\t\tpriority = 0,\n\t\tphase = 'postUpdate',\n\t} = options;\n\n\treturn definePlugin('collision')\n\t\t.withComponentTypes<CollisionComponentTypes<L>>()\n\t\t.withEventTypes<CollisionEventTypes<L>>()\n\t\t.withLabels<'collision-detection'>()\n\t\t.withGroups<G>()\n\t\t.requires<TransformWorldConfig>()\n\t\t.install((world) => {\n\t\t\t// Grow-only pool of BaseColliderInfo slots reused across frames.\n\t\t\t// Steady-state: zero allocations per frame once the pool is warm.\n\t\t\tconst colliderPool: BaseColliderInfo<L>[] = [];\n\t\t\t// Reusable entityId → collider lookup for the broadphase path.\n\t\t\tconst broadphaseMap = new Map<number, BaseColliderInfo<L>>();\n\t\t\t// Cached spatial index reference (resolved once on first frame).\n\t\t\tlet cachedSI: SpatialIndex | undefined;\n\t\t\tlet siResolved = false;\n\n\t\t\tworld\n\t\t\t\t.addSystem('collision-detection')\n\t\t\t\t.setPriority(priority)\n\t\t\t\t.inPhase(phase)\n\t\t\t\t.inGroup(systemGroup)\n\t\t\t\t.addQuery('collidables', {\n\t\t\t\t\twith: ['worldTransform', 'collisionLayer'],\n\t\t\t\t})\n\t\t\t\t.setProcess(({ queries, ecs }) => {\n\t\t\t\t\tlet count = 0;\n\n\t\t\t\t\tfor (const entity of queries.collidables) {\n\t\t\t\t\t\tconst { worldTransform, collisionLayer } = entity.components;\n\t\t\t\t\t\tconst aabb = ecs.getComponent(entity.id, 'aabbCollider');\n\t\t\t\t\t\tconst circle = aabb ? undefined : ecs.getComponent(entity.id, 'circleCollider');\n\t\t\t\t\t\tif (!aabb && !circle) continue;\n\n\t\t\t\t\t\tlet slot = colliderPool[count];\n\t\t\t\t\t\tif (!slot) {\n\t\t\t\t\t\t\tslot = {\n\t\t\t\t\t\t\t\tentityId: entity.id,\n\t\t\t\t\t\t\t\tx: worldTransform.x,\n\t\t\t\t\t\t\t\ty: worldTransform.y,\n\t\t\t\t\t\t\t\tlayer: collisionLayer.layer,\n\t\t\t\t\t\t\t\tcollidesWith: collisionLayer.collidesWith,\n\t\t\t\t\t\t\t\tshape: AABB_SHAPE,\n\t\t\t\t\t\t\t\thalfWidth: 0,\n\t\t\t\t\t\t\t\thalfHeight: 0,\n\t\t\t\t\t\t\t\tradius: 0,\n\t\t\t\t\t\t\t};\n\t\t\t\t\t\t\tcolliderPool[count] = slot;\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\tif (!fillBaseColliderInfo(\n\t\t\t\t\t\t\tslot,\n\t\t\t\t\t\t\tentity.id, worldTransform.x, worldTransform.y,\n\t\t\t\t\t\t\tcollisionLayer.layer, collisionLayer.collidesWith,\n\t\t\t\t\t\t\taabb, circle,\n\t\t\t\t\t\t)) continue;\n\n\t\t\t\t\t\tcount++;\n\t\t\t\t\t}\n\n\t\t\t\t\tif (!siResolved) {\n\t\t\t\t\t\tcachedSI = ecs.tryGetResource<SpatialIndex>('spatialIndex');\n\t\t\t\t\t\tsiResolved = true;\n\t\t\t\t\t}\n\t\t\t\t\tdetectCollisions(colliderPool, count, broadphaseMap, cachedSI, onCollisionDetected<L>, ecs.eventBus);\n\t\t\t\t});\n\t\t});\n}\n\n",
6
- "/**\n * Shared Narrowphase Module\n *\n * Provides contact-computing narrowphase tests and a generic collision\n * iteration pipeline used by both the collision plugin (event-only) and\n * the physics2D plugin (impulse response).\n */\n\nimport type { SpatialIndex } from './spatial-hash';\n\n// ==================== Contact ====================\n\n/**\n * Contact result from a narrowphase test. Normal points from A toward B.\n *\n * Narrowphase functions use this as an out-parameter: the caller owns the\n * struct, the function writes fields in place and returns `true` on hit.\n * The `onContact` callback in `detectCollisions` receives a shared module-\n * level instance — **subscribers must consume it synchronously and must not\n * retain the reference across frames**.\n */\nexport interface Contact {\n\tnormalX: number;\n\tnormalY: number;\n\t/** Penetration depth (positive = overlapping) */\n\tdepth: number;\n}\n\n/**\n * Module-level reusable Contact passed down from `detectCollisions` into\n * narrowphase tests and forwarded to the `onContact` callback. Reused across\n * every pair in every frame — zero allocation in the narrowphase hot path.\n */\nconst _sharedContact: Contact = { normalX: 0, normalY: 0, depth: 0 };\n\n// ==================== BaseColliderInfo ====================\n\n/** Collider shape discriminator for the flattened BaseColliderInfo layout. */\nexport const AABB_SHAPE = 0;\nexport const CIRCLE_SHAPE = 1;\nexport type ColliderShape = typeof AABB_SHAPE | typeof CIRCLE_SHAPE;\n\n/**\n * Minimum collider data shared by collision and physics bundles.\n *\n * Flat layout (no nested `aabb` / `circle` sub-objects): the `shape`\n * discriminator tells you whether to read `halfWidth`/`halfHeight`\n * (AABB) or `radius` (Circle). Unused fields are set to 0.\n *\n * This shape is pool-friendly — all fields are assigned in place each\n * frame without allocating nested objects.\n */\nexport interface BaseColliderInfo<L extends string = string> {\n\tentityId: number;\n\tx: number;\n\ty: number;\n\tlayer: L;\n\tcollidesWith: readonly L[];\n\tshape: ColliderShape;\n\thalfWidth: number;\n\thalfHeight: number;\n\tradius: number;\n}\n\n// ==================== Collider Construction ====================\n\n/**\n * Populate a `BaseColliderInfo` slot in place from raw component data.\n * Returns `true` if the slot was filled, `false` if the entity has no\n * collider (caller should skip it).\n *\n * If an entity has both AABB and circle colliders, AABB wins and only\n * the AABB offset is applied. This matches the dispatch precedence in\n * `computeContact`; the previous implementation stacked both offsets,\n * which was a bug.\n */\nexport function fillBaseColliderInfo<L extends string>(\n\tinfo: BaseColliderInfo<L>,\n\tentityId: number,\n\tx: number,\n\ty: number,\n\tlayer: L,\n\tcollidesWith: readonly L[],\n\taabb: { width: number; height: number; offsetX?: number; offsetY?: number } | undefined,\n\tcircle: { radius: number; offsetX?: number; offsetY?: number } | undefined,\n): boolean {\n\tinfo.entityId = entityId;\n\tinfo.layer = layer;\n\tinfo.collidesWith = collidesWith;\n\n\tif (aabb) {\n\t\tinfo.x = x + (aabb.offsetX ?? 0);\n\t\tinfo.y = y + (aabb.offsetY ?? 0);\n\t\tinfo.shape = AABB_SHAPE;\n\t\tinfo.halfWidth = aabb.width / 2;\n\t\tinfo.halfHeight = aabb.height / 2;\n\t\tinfo.radius = 0;\n\t\treturn true;\n\t}\n\n\tif (circle) {\n\t\tinfo.x = x + (circle.offsetX ?? 0);\n\t\tinfo.y = y + (circle.offsetY ?? 0);\n\t\tinfo.shape = CIRCLE_SHAPE;\n\t\tinfo.halfWidth = 0;\n\t\tinfo.halfHeight = 0;\n\t\tinfo.radius = circle.radius;\n\t\treturn true;\n\t}\n\n\treturn false;\n}\n\n// ==================== Spatial Index Lookup ====================\n\n/**\n * Retrieve the optional spatialIndex resource, returning undefined when absent.\n * Centralizes the cross-plugin typed lookup so individual plugins don't each\n * need to import SpatialIndex or repeat the tryGetResource pattern.\n */\nexport function tryGetSpatialIndex(\n\ttryGetResource: <T>(key: string) => T | undefined,\n): SpatialIndex | undefined {\n\treturn tryGetResource<SpatialIndex>('spatialIndex');\n}\n\n// ==================== Narrowphase Tests ====================\n\n/**\n * Write an AABB-AABB contact into `out`. Returns `true` if the shapes\n * overlap (out was filled), `false` otherwise.\n */\nexport function computeAABBvsAABB(\n\tax: number, ay: number, ahw: number, ahh: number,\n\tbx: number, by: number, bhw: number, bhh: number,\n\tout: Contact,\n): boolean {\n\tconst dx = bx - ax;\n\tconst dy = by - ay;\n\tconst overlapX = (ahw + bhw) - Math.abs(dx);\n\tconst overlapY = (ahh + bhh) - Math.abs(dy);\n\n\tif (overlapX <= 0 || overlapY <= 0) return false;\n\n\tif (overlapX < overlapY) {\n\t\tout.normalX = dx >= 0 ? 1 : -1;\n\t\tout.normalY = 0;\n\t\tout.depth = overlapX;\n\t\treturn true;\n\t}\n\tout.normalX = 0;\n\tout.normalY = dy >= 0 ? 1 : -1;\n\tout.depth = overlapY;\n\treturn true;\n}\n\nexport function computeCircleVsCircle(\n\tax: number, ay: number, ar: number,\n\tbx: number, by: number, br: number,\n\tout: Contact,\n): boolean {\n\tconst dx = bx - ax;\n\tconst dy = by - ay;\n\tconst distSq = dx * dx + dy * dy;\n\tconst radiusSum = ar + br;\n\n\tif (distSq >= radiusSum * radiusSum) return false;\n\n\tconst dist = Math.sqrt(distSq);\n\tif (dist === 0) {\n\t\tout.normalX = 1;\n\t\tout.normalY = 0;\n\t\tout.depth = radiusSum;\n\t\treturn true;\n\t}\n\tout.normalX = dx / dist;\n\tout.normalY = dy / dist;\n\tout.depth = radiusSum - dist;\n\treturn true;\n}\n\nexport function computeAABBvsCircle(\n\taabbX: number, aabbY: number, ahw: number, ahh: number,\n\tcircleX: number, circleY: number, radius: number,\n\tout: Contact,\n): boolean {\n\tconst closestX = Math.max(aabbX - ahw, Math.min(circleX, aabbX + ahw));\n\tconst closestY = Math.max(aabbY - ahh, Math.min(circleY, aabbY + ahh));\n\n\tconst dx = circleX - closestX;\n\tconst dy = circleY - closestY;\n\tconst distSq = dx * dx + dy * dy;\n\n\tif (distSq >= radius * radius) return false;\n\n\t// Circle center inside AABB\n\tif (distSq === 0) {\n\t\tconst pushLeft = (circleX - (aabbX - ahw));\n\t\tconst pushRight = ((aabbX + ahw) - circleX);\n\t\tconst pushUp = (circleY - (aabbY - ahh));\n\t\tconst pushDown = ((aabbY + ahh) - circleY);\n\t\tconst minPush = Math.min(pushLeft, pushRight, pushUp, pushDown);\n\n\t\tif (minPush === pushRight) {\n\t\t\tout.normalX = 1; out.normalY = 0; out.depth = pushRight + radius;\n\t\t\treturn true;\n\t\t}\n\t\tif (minPush === pushLeft) {\n\t\t\tout.normalX = -1; out.normalY = 0; out.depth = pushLeft + radius;\n\t\t\treturn true;\n\t\t}\n\t\tif (minPush === pushDown) {\n\t\t\tout.normalX = 0; out.normalY = 1; out.depth = pushDown + radius;\n\t\t\treturn true;\n\t\t}\n\t\tout.normalX = 0; out.normalY = -1; out.depth = pushUp + radius;\n\t\treturn true;\n\t}\n\n\tconst dist = Math.sqrt(distSq);\n\tout.normalX = dx / dist;\n\tout.normalY = dy / dist;\n\tout.depth = radius - dist;\n\treturn true;\n}\n\n// ==================== Contact Dispatcher ====================\n\n/**\n * Dispatch to the correct narrowphase function for the given pair and\n * write the contact into `out`. Returns `true` if the pair overlaps.\n */\nexport function computeContact(a: BaseColliderInfo, b: BaseColliderInfo, out: Contact): boolean {\n\tif (a.shape === AABB_SHAPE && b.shape === AABB_SHAPE) {\n\t\treturn computeAABBvsAABB(\n\t\t\ta.x, a.y, a.halfWidth, a.halfHeight,\n\t\t\tb.x, b.y, b.halfWidth, b.halfHeight,\n\t\t\tout,\n\t\t);\n\t}\n\n\tif (a.shape === CIRCLE_SHAPE && b.shape === CIRCLE_SHAPE) {\n\t\treturn computeCircleVsCircle(\n\t\t\ta.x, a.y, a.radius,\n\t\t\tb.x, b.y, b.radius,\n\t\t\tout,\n\t\t);\n\t}\n\n\tif (a.shape === AABB_SHAPE && b.shape === CIRCLE_SHAPE) {\n\t\treturn computeAABBvsCircle(\n\t\t\ta.x, a.y, a.halfWidth, a.halfHeight,\n\t\t\tb.x, b.y, b.radius,\n\t\t\tout,\n\t\t);\n\t}\n\n\t// a is Circle, b is AABB — compute as AABB-vs-Circle, then flip normal in place\n\tif (!computeAABBvsCircle(\n\t\tb.x, b.y, b.halfWidth, b.halfHeight,\n\t\ta.x, a.y, a.radius,\n\t\tout,\n\t)) return false;\n\tout.normalX = -out.normalX;\n\tout.normalY = -out.normalY;\n\treturn true;\n}\n\n// ==================== Collision Iteration ====================\n\n/** Module-level reusable set for broadphase candidates. */\nconst _broadphaseCandidates = new Set<number>();\n\nlet _bruteForceWarned = false;\nconst BRUTE_FORCE_WARN_THRESHOLD = 50;\n\n/**\n * Generic collision detection pipeline: brute-force or broadphase,\n * with layer filtering and contact computation.\n *\n * `count` is the number of live entries at the front of `colliders`.\n * The array itself may be a grow-only pool — only indices `[0, count)`\n * are iterated, so trailing pool slots are ignored.\n *\n * `workingMap` is a caller-owned `Map<number, I>` used by the broadphase\n * path as an entityId → collider lookup. It is cleared and repopulated on\n * each call; callers should allocate it once and pass the same instance\n * every frame. Unused by the brute-force path but still required so that\n * typed reuse is the default, not an opt-in.\n *\n * Uses a context parameter forwarded to the callback to avoid\n * per-frame closure allocation.\n */\nexport function detectCollisions<I extends BaseColliderInfo, C>(\n\tcolliders: I[],\n\tcount: number,\n\tworkingMap: Map<number, I>,\n\tspatialIndex: SpatialIndex | undefined,\n\tonContact: (a: I, b: I, contact: Contact, context: C) => void,\n\tcontext: C,\n): void {\n\tif (spatialIndex) {\n\t\tbroadphaseDetect(colliders, count, workingMap, spatialIndex, onContact, context);\n\t} else {\n\t\tbruteForceDetect(colliders, count, onContact, context);\n\t}\n}\n\nfunction bruteForceDetect<I extends BaseColliderInfo, C>(\n\tcolliders: I[],\n\tcount: number,\n\tonContact: (a: I, b: I, contact: Contact, context: C) => void,\n\tcontext: C,\n): void {\n\tif (!_bruteForceWarned && count >= BRUTE_FORCE_WARN_THRESHOLD) {\n\t\t_bruteForceWarned = true;\n\t\tconsole.warn(\n\t\t\t`[ecspresso] Collision detection is using O(n²) brute force with ${count} colliders. ` +\n\t\t\t`For better performance, install createSpatialIndexPlugin() alongside your collision or physics2D plugin.`,\n\t\t);\n\t}\n\n\tfor (let i = 0; i < count; i++) {\n\t\tconst a = colliders[i];\n\t\tif (!a) continue;\n\n\t\tfor (let j = i + 1; j < count; j++) {\n\t\t\tconst b = colliders[j];\n\t\t\tif (!b) continue;\n\n\t\t\tif (!a.collidesWith.includes(b.layer) && !b.collidesWith.includes(a.layer)) continue;\n\n\t\t\tif (!computeContact(a, b, _sharedContact)) continue;\n\n\t\t\tonContact(a, b, _sharedContact, context);\n\t\t}\n\t}\n}\n\nfunction broadphaseDetect<I extends BaseColliderInfo, C>(\n\tcolliders: I[],\n\tcount: number,\n\tcolliderMap: Map<number, I>,\n\tspatialIndex: SpatialIndex,\n\tonContact: (a: I, b: I, contact: Contact, context: C) => void,\n\tcontext: C,\n): void {\n\tcolliderMap.clear();\n\tfor (let i = 0; i < count; i++) {\n\t\tconst c = colliders[i];\n\t\tif (!c) continue;\n\t\tcolliderMap.set(c.entityId, c);\n\t}\n\n\tfor (let i = 0; i < count; i++) {\n\t\tconst a = colliders[i];\n\t\tif (!a) continue;\n\n\t\tconst aHalfW = a.shape === AABB_SHAPE ? a.halfWidth : a.radius;\n\t\tconst aHalfH = a.shape === AABB_SHAPE ? a.halfHeight : a.radius;\n\n\t\t_broadphaseCandidates.clear();\n\t\tspatialIndex.queryRectInto(\n\t\t\ta.x - aHalfW, a.y - aHalfH,\n\t\t\ta.x + aHalfW, a.y + aHalfH,\n\t\t\t_broadphaseCandidates,\n\t\t);\n\n\t\tfor (const bId of _broadphaseCandidates) {\n\t\t\tif (bId <= a.entityId) continue;\n\n\t\t\tconst b = colliderMap.get(bId);\n\t\t\tif (!b) continue;\n\n\t\t\tif (!a.collidesWith.includes(b.layer) && !b.collidesWith.includes(a.layer)) continue;\n\n\t\t\tif (!computeContact(a, b, _sharedContact)) continue;\n\n\t\t\tonContact(a, b, _sharedContact, context);\n\t\t}\n\t}\n}\n"
5
+ "/**\n * Collision Plugin for ECSpresso\n *\n * Provides layer-based collision detection with events.\n * Uses worldTransform for position (world-space collision).\n * Supports AABB and circle colliders.\n */\n\nimport { definePlugin, type BasePluginOptions } from 'ecspresso';\nimport type { TransformWorldConfig } from '../spatial/transform';\nimport { fillBaseColliderInfo, detectCollisions, AABB_SHAPE, type Contact, type BaseColliderInfo } from '../../utils/narrowphase';\nimport type { SpatialIndex } from '../../utils/spatial-hash';\n\n// ==================== Component Types ====================\n\n/**\n * Axis-Aligned Bounding Box collider.\n */\nexport interface AABBCollider {\n\t/** Width of the bounding box */\n\twidth: number;\n\t/** Height of the bounding box */\n\theight: number;\n\t/** X offset from entity position (default: 0) */\n\toffsetX?: number;\n\t/** Y offset from entity position (default: 0) */\n\toffsetY?: number;\n}\n\n/**\n * Circle collider.\n */\nexport interface CircleCollider {\n\t/** Radius of the circle */\n\tradius: number;\n\t/** X offset from entity position (default: 0) */\n\toffsetX?: number;\n\t/** Y offset from entity position (default: 0) */\n\toffsetY?: number;\n}\n\n/**\n * Collision layer configuration.\n */\nexport interface CollisionLayer<L extends string = never> {\n\t/** The layer this entity belongs to */\n\tlayer: L;\n\t/** Layers this entity can collide with */\n\tcollidesWith: readonly L[];\n}\n\n/**\n * Component types provided by the collision plugin.\n * Included automatically via `.withPlugin(createCollisionPlugin())`.\n *\n * @example\n * ```typescript\n * const ecs = ECSpresso.create()\n * .withPlugin(createCollisionPlugin())\n * .withComponentTypes<{ sprite: Sprite; enemy: boolean }>()\n * .build();\n * ```\n */\nexport interface CollisionComponentTypes<L extends string = never> {\n\taabbCollider: AABBCollider;\n\tcircleCollider: CircleCollider;\n\tcollisionLayer: CollisionLayer<L>;\n}\n\n// ==================== Event Types ====================\n\n/**\n * Event fired when two entities collide.\n *\n * Normal components are flattened (`normalX`/`normalY`) rather than nested\n * in a sub-object to avoid a per-event allocation in the collision hot path.\n */\nexport interface CollisionEvent<L extends string = never> {\n\t/** First entity in the collision */\n\tentityA: number;\n\t/** Second entity in the collision */\n\tentityB: number;\n\t/** Layer of the first entity */\n\tlayerA: L;\n\t/** Layer of the second entity */\n\tlayerB: L;\n\t/** Contact normal X, pointing from entityA toward entityB */\n\tnormalX: number;\n\t/** Contact normal Y, pointing from entityA toward entityB */\n\tnormalY: number;\n\t/** Penetration depth (positive = overlapping) */\n\tdepth: number;\n}\n\n/**\n * Event types provided by the collision plugin.\n */\nexport interface CollisionEventTypes<L extends string = never> {\n\tcollision: CollisionEvent<L>;\n}\n\n// ==================== Plugin Options ====================\n\n/**\n * Configuration options for the collision plugin.\n */\nexport interface CollisionPluginOptions<G extends string = 'physics'> extends BasePluginOptions<G> {\n\t/** Name of the collision event (default: 'collision') */\n\tcollisionEventName?: string;\n}\n\n// ==================== Helper Functions ====================\n\n/**\n * Create an AABB collider component.\n *\n * @param width Width of the bounding box\n * @param height Height of the bounding box\n * @param offsetX X offset from entity position\n * @param offsetY Y offset from entity position\n * @returns Component object suitable for spreading into spawn()\n *\n * @example\n * ```typescript\n * ecs.spawn({\n * ...createTransform(100, 200),\n * ...createAABBCollider(50, 30),\n * });\n * ```\n */\nexport function createAABBCollider(\n\twidth: number,\n\theight: number,\n\toffsetX?: number,\n\toffsetY?: number\n): { aabbCollider: AABBCollider } {\n\tconst collider: AABBCollider = { width, height };\n\tif (offsetX !== undefined) collider.offsetX = offsetX;\n\tif (offsetY !== undefined) collider.offsetY = offsetY;\n\treturn { aabbCollider: collider };\n}\n\n/**\n * Create a circle collider component.\n *\n * @param radius Radius of the circle\n * @param offsetX X offset from entity position\n * @param offsetY Y offset from entity position\n * @returns Component object suitable for spreading into spawn()\n *\n * @example\n * ```typescript\n * ecs.spawn({\n * ...createTransform(100, 200),\n * ...createCircleCollider(25),\n * });\n * ```\n */\nexport function createCircleCollider(\n\tradius: number,\n\toffsetX?: number,\n\toffsetY?: number\n): { circleCollider: CircleCollider } {\n\tconst collider: CircleCollider = { radius };\n\tif (offsetX !== undefined) collider.offsetX = offsetX;\n\tif (offsetY !== undefined) collider.offsetY = offsetY;\n\treturn { circleCollider: collider };\n}\n\n/**\n * Create a collision layer component.\n *\n * @param layer The layer this entity belongs to\n * @param collidesWith Layers this entity can collide with\n * @returns Component object suitable for spreading into spawn()\n *\n * @example\n * ```typescript\n * ecs.spawn({\n * ...createTransform(100, 200),\n * ...createAABBCollider(50, 30),\n * ...createCollisionLayer('player', ['enemy', 'obstacle']),\n * });\n * ```\n */\nexport function createCollisionLayer<L extends string>(\n\tlayer: L,\n\tcollidesWith: readonly L[]\n): Pick<CollisionComponentTypes<L>, 'collisionLayer'> {\n\treturn {\n\t\tcollisionLayer: { layer, collidesWith },\n\t};\n}\n\n/**\n * Layer factory result from defineCollisionLayers.\n */\nexport type LayerFactories<T extends Record<string, readonly string[]>> = {\n\t[K in keyof T]: () => Pick<CollisionComponentTypes<Extract<keyof T, string>>, 'collisionLayer'>;\n};\n\n/**\n * Extract layer names from a `defineCollisionLayers` result for use with\n * `createCollisionPairHandler`'s `L` type parameter.\n *\n * @example\n * ```typescript\n * const layers = defineCollisionLayers({ player: ['enemy'], enemy: ['player'] });\n * type Layer = LayersOf<typeof layers>;\n * const handler = createCollisionPairHandler<ECS, Layer>({\n * 'player:enemy': (playerId, enemyId, ecs) => { ... },\n * });\n * ```\n */\nexport type LayersOf<T> = Extract<keyof T, string>;\n\n/**\n * Define collision layer relationships and get factory functions.\n *\n * @param rules Object mapping layer names to arrays of layers they collide with\n * @returns Object with factory functions for each layer\n *\n * @example\n * ```typescript\n * const layers = defineCollisionLayers({\n * player: ['enemy', 'enemyProjectile'],\n * playerProjectile: ['enemy'],\n * enemy: ['playerProjectile'],\n * enemyProjectile: ['player'],\n * });\n *\n * // Usage\n * ecs.spawn({\n * ...createTransform(100, 200),\n * ...createAABBCollider(50, 30),\n * ...layers.player(),\n * });\n * ```\n */\n/**\n * Validates that all `collidesWith` values reference actual layer keys.\n * Catches typos at compile time.\n */\ntype ValidateCollidesWith<T> = {\n\t[K in keyof T]: T[K] extends readonly (infer V)[]\n\t\t? [V] extends [Extract<keyof T, string>] ? T[K] : readonly Extract<keyof T, string>[]\n\t\t: never;\n};\n\nexport function defineCollisionLayers<const T extends Record<string, readonly string[]>>(\n\trules: T & ValidateCollidesWith<T>\n): LayerFactories<T> {\n\ttype L = Extract<keyof T, string>;\n\tconst factories = {} as LayerFactories<T>;\n\n\tfor (const layer of Object.keys(rules) as Array<L>) {\n\t\tconst collidesWith = rules[layer] as readonly L[];\n\t\tfactories[layer] = () => createCollisionLayer<L>(layer, collidesWith);\n\t}\n\n\treturn factories;\n}\n\n// ==================== Collision Pair Handler ====================\n\n/**\n * Callback for a collision pair handler.\n *\n * @param firstEntityId Entity belonging to the first layer in the pair key\n * @param secondEntityId Entity belonging to the second layer in the pair key\n * @param ecs The ECS world instance (passed through from the subscriber)\n */\nexport type CollisionPairCallback<W = unknown> = (\n\tfirstEntityId: number,\n\tsecondEntityId: number,\n\tecs: W,\n) => void;\n\ninterface PairEntry<W> {\n\tcallback: CollisionPairCallback<W>;\n\tswapped: boolean;\n}\n\nfunction parsePairKey(key: string): [string, string] {\n\tconst colonIndex = key.indexOf(':');\n\tif (colonIndex === -1) {\n\t\tthrow new Error(`Invalid collision pair key \"${key}\": must contain a colon separator (e.g. \"player:enemy\")`);\n\t}\n\tconst layerA = key.slice(0, colonIndex);\n\tconst layerB = key.slice(colonIndex + 1);\n\tif (layerA === '' || layerB === '') {\n\t\tthrow new Error(`Invalid collision pair key \"${key}\": layer names must not be empty`);\n\t}\n\treturn [layerA, layerB];\n}\n\n/**\n * Create a collision pair handler that routes collision events to\n * layer-pair-specific callbacks.\n *\n * Registering `\"a:b\"` automatically handles both `(layerA=a, layerB=b)` and\n * `(layerA=b, layerB=a)`. Entity arguments are swapped to match the declared\n * key order. If both `\"a:b\"` and `\"b:a\"` are explicitly registered, each gets\n * its own handler with no implicit reverse.\n *\n * @typeParam W - The ECS world type (e.g. `ECSpresso<C, E, R>`). Defaults to `unknown`.\n * @typeParam L - Union of valid layer names. Defaults to `string`.\n * Provide specific layer names for compile-time key validation:\n * `createCollisionPairHandler<ECS, keyof typeof layers>({...})`\n *\n * @param pairs Object mapping `\"layerA:layerB\"` keys to callbacks\n * @returns A dispatch function to call with collision event data and ECS instance\n *\n * @example\n * ```typescript\n * // Basic usage:\n * const handler = createCollisionPairHandler<ECS>({\n * 'playerProjectile:enemy': (projectileId, enemyId, ecs) => {\n * ecs.commands.removeEntity(projectileId);\n * },\n * });\n *\n * // With layer name validation:\n * const layers = defineCollisionLayers({ player: ['enemy'], enemy: ['player'] });\n * type Layer = LayersOf<typeof layers>;\n * const handler = createCollisionPairHandler<ECS, Layer>({\n * 'player:enemy': (playerId, enemyId, ecs) => { ... },\n * });\n *\n * ecs.eventBus.subscribe('collision', (data) => handler({ data, ecs }));\n * ```\n */\nexport function createCollisionPairHandler<W = unknown, L extends string = string>(\n\tpairs: { [K in `${L}:${L}`]?: CollisionPairCallback<W> }\n): (ctx: { data: CollisionEvent<L>; ecs: W }) => void;\nexport function createCollisionPairHandler<W = unknown>(\n\tpairs: Record<string, CollisionPairCallback<W> | undefined>\n): (ctx: { data: CollisionEvent<string>; ecs: W }) => void {\n\tconst lookup = new Map<string, PairEntry<W>>();\n\tconst explicitKeys = new Set<string>();\n\n\t// First pass: collect all explicit keys\n\tfor (const key of Object.keys(pairs)) {\n\t\tparsePairKey(key); // validate\n\t\texplicitKeys.add(key);\n\t}\n\n\t// Second pass: build lookup with forward + conditional reverse entries\n\tfor (const key of Object.keys(pairs)) {\n\t\tconst [layerA, layerB] = parsePairKey(key);\n\t\tconst callback = pairs[key];\n\t\tif (!callback) continue;\n\n\t\t// Forward entry\n\t\tlookup.set(key, { callback, swapped: false });\n\n\t\t// Reverse entry (only if the reverse key wasn't explicitly registered\n\t\t// and it's not a self-collision where forward === reverse)\n\t\tconst reverseKey = `${layerB}:${layerA}`;\n\t\tif (reverseKey !== key && !explicitKeys.has(reverseKey)) {\n\t\t\tlookup.set(reverseKey, { callback, swapped: true });\n\t\t}\n\t}\n\n\treturn function collisionPairDispatch({ data: event, ecs }: { data: CollisionEvent<string>; ecs: W }): void {\n\t\tconst entry = lookup.get(event.layerA + ':' + event.layerB);\n\t\tif (!entry) return;\n\n\t\tif (entry.swapped) {\n\t\t\tentry.callback(event.entityB, event.entityA, ecs);\n\t\t} else {\n\t\t\tentry.callback(event.entityA, event.entityB, ecs);\n\t\t}\n\t};\n}\n\n// ==================== Dependency Types ====================\n\n// ==================== Module-level Collision Callback ====================\n\ninterface CollisionEventBus<L extends string> {\n\tpublish(event: 'collision', data: CollisionEvent<L>): void;\n}\n\n/**\n * Module-level reusable collision event. Subscribers must consume\n * synchronously — same contract as the shared narrowphase Contact.\n */\nconst _collisionEvent: CollisionEvent<string> = {\n\tentityA: 0, entityB: 0, layerA: '', layerB: '',\n\tnormalX: 0, normalY: 0, depth: 0,\n};\n\nfunction onCollisionDetected<L extends string>(\n\ta: BaseColliderInfo<L>,\n\tb: BaseColliderInfo<L>,\n\tcontact: Contact,\n\teventBus: CollisionEventBus<L>,\n): void {\n\t_collisionEvent.entityA = a.entityId;\n\t_collisionEvent.entityB = b.entityId;\n\t_collisionEvent.layerA = a.layer;\n\t_collisionEvent.layerB = b.layer;\n\t_collisionEvent.normalX = contact.normalX;\n\t_collisionEvent.normalY = contact.normalY;\n\t_collisionEvent.depth = contact.depth;\n\teventBus.publish('collision', _collisionEvent as CollisionEvent<L>);\n}\n\n// ==================== Plugin Factory ====================\n\n/**\n * Create a collision plugin for ECSpresso.\n *\n * This plugin provides:\n * - Collision detection between entities with colliders\n * - AABB-AABB, circle-circle, and AABB-circle collision\n * - Layer-based filtering for collision pairs\n * - Deduplication of A-B / B-A collisions\n * - Automatic broadphase acceleration when spatialIndex resource is present\n *\n * Uses worldTransform for position (world-space collision detection).\n * The `layers` parameter is required for type inference — at runtime the\n * plugin does not consume it.\n *\n * @example\n * ```typescript\n * const layers = defineCollisionLayers({ player: ['enemy'], enemy: ['player'] });\n * const ecs = ECSpresso\n * .create()\n * .withPlugin(createTransformPlugin())\n * .withPlugin(createCollisionPlugin({ layers }))\n * .build();\n *\n * // Entity with collision\n * ecs.spawn({\n * ...createTransform(100, 200),\n * ...createAABBCollider(50, 30),\n * ...layers.player(),\n * });\n * ```\n */\nexport function createCollisionPlugin<L extends string, G extends string = 'physics'>(\n\toptions: CollisionPluginOptions<G> & { layers: LayerFactories<Record<L, readonly string[]>> }\n) {\n\tconst {\n\t\tsystemGroup = 'physics',\n\t\tpriority = 0,\n\t\tphase = 'postUpdate',\n\t} = options;\n\n\treturn definePlugin('collision')\n\t\t.withComponentTypes<CollisionComponentTypes<L>>()\n\t\t.withEventTypes<CollisionEventTypes<L>>()\n\t\t.withLabels<'collision-detection'>()\n\t\t.withGroups<G>()\n\t\t.requires<TransformWorldConfig>()\n\t\t.install((world) => {\n\t\t\t// Grow-only pool of BaseColliderInfo slots reused across frames.\n\t\t\t// Steady-state: zero allocations per frame once the pool is warm.\n\t\t\tconst colliderPool: BaseColliderInfo<L>[] = [];\n\t\t\t// Reusable entityId → collider lookup for the broadphase path.\n\t\t\tconst broadphaseMap = new Map<number, BaseColliderInfo<L>>();\n\t\t\t// Cached spatial index reference (resolved once on first frame).\n\t\t\tlet cachedSI: SpatialIndex | undefined;\n\t\t\tlet siResolved = false;\n\n\t\t\tworld\n\t\t\t\t.addSystem('collision-detection')\n\t\t\t\t.setPriority(priority)\n\t\t\t\t.inPhase(phase)\n\t\t\t\t.inGroup(systemGroup)\n\t\t\t\t.addQuery('collidables', {\n\t\t\t\t\twith: ['worldTransform', 'collisionLayer'],\n\t\t\t\t})\n\t\t\t\t.setProcess(({ queries, ecs }) => {\n\t\t\t\t\tlet count = 0;\n\n\t\t\t\t\t// TODO(perf): collider shape is discovered via two ecs.getComponent\n\t\t\t\t\t// calls per entity per frame because the query can't express\n\t\t\t\t\t// \"aabbCollider OR circleCollider\". Splitting into two queries\n\t\t\t\t\t// (aabb-bearing, circle-bearing) would eliminate these lookups at\n\t\t\t\t\t// the cost of two pool-fill passes. Keep in sync with collision3D.\n\t\t\t\t\tfor (const entity of queries.collidables) {\n\t\t\t\t\t\tconst { worldTransform, collisionLayer } = entity.components;\n\t\t\t\t\t\tconst aabb = ecs.getComponent(entity.id, 'aabbCollider');\n\t\t\t\t\t\tconst circle = aabb ? undefined : ecs.getComponent(entity.id, 'circleCollider');\n\t\t\t\t\t\tif (!aabb && !circle) continue;\n\n\t\t\t\t\t\tlet slot = colliderPool[count];\n\t\t\t\t\t\tif (!slot) {\n\t\t\t\t\t\t\tslot = {\n\t\t\t\t\t\t\t\tentityId: entity.id,\n\t\t\t\t\t\t\t\tx: worldTransform.x,\n\t\t\t\t\t\t\t\ty: worldTransform.y,\n\t\t\t\t\t\t\t\tlayer: collisionLayer.layer,\n\t\t\t\t\t\t\t\tcollidesWith: collisionLayer.collidesWith,\n\t\t\t\t\t\t\t\tshape: AABB_SHAPE,\n\t\t\t\t\t\t\t\thalfWidth: 0,\n\t\t\t\t\t\t\t\thalfHeight: 0,\n\t\t\t\t\t\t\t\tradius: 0,\n\t\t\t\t\t\t\t};\n\t\t\t\t\t\t\tcolliderPool[count] = slot;\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\tif (!fillBaseColliderInfo(\n\t\t\t\t\t\t\tslot,\n\t\t\t\t\t\t\tentity.id, worldTransform.x, worldTransform.y,\n\t\t\t\t\t\t\tcollisionLayer.layer, collisionLayer.collidesWith,\n\t\t\t\t\t\t\taabb, circle,\n\t\t\t\t\t\t)) continue;\n\n\t\t\t\t\t\tcount++;\n\t\t\t\t\t}\n\n\t\t\t\t\tif (!siResolved) {\n\t\t\t\t\t\tcachedSI = ecs.tryGetResource<SpatialIndex>('spatialIndex');\n\t\t\t\t\t\tsiResolved = true;\n\t\t\t\t\t}\n\t\t\t\t\tdetectCollisions(colliderPool, count, broadphaseMap, cachedSI, onCollisionDetected<L>, ecs.eventBus);\n\t\t\t\t});\n\t\t});\n}\n\n",
6
+ "/**\n * Shared Narrowphase Module\n *\n * Provides contact-computing narrowphase tests and a generic collision\n * iteration pipeline used by both the collision plugin (event-only) and\n * the physics2D plugin (impulse response).\n */\n\nimport type { SpatialIndex } from './spatial-hash';\n\n// ==================== Contact ====================\n\n/**\n * Contact result from a narrowphase test. Normal points from A toward B.\n *\n * Narrowphase functions use this as an out-parameter: the caller owns the\n * struct, the function writes fields in place and returns `true` on hit.\n * The `onContact` callback in `detectCollisions` receives a shared module-\n * level instance — **subscribers must consume it synchronously and must not\n * retain the reference across frames**.\n */\nexport interface Contact {\n\tnormalX: number;\n\tnormalY: number;\n\t/** Penetration depth (positive = overlapping) */\n\tdepth: number;\n}\n\n/**\n * Module-level reusable Contact passed down from `detectCollisions` into\n * narrowphase tests and forwarded to the `onContact` callback. Reused across\n * every pair in every frame — zero allocation in the narrowphase hot path.\n */\nconst _sharedContact: Contact = { normalX: 0, normalY: 0, depth: 0 };\n\n// ==================== BaseColliderInfo ====================\n\n/** Collider shape discriminator for the flattened BaseColliderInfo layout. */\nexport const AABB_SHAPE = 0;\nexport const CIRCLE_SHAPE = 1;\nexport type ColliderShape = typeof AABB_SHAPE | typeof CIRCLE_SHAPE;\n\n/**\n * Minimum collider data shared by collision and physics bundles.\n *\n * Flat layout (no nested `aabb` / `circle` sub-objects): the `shape`\n * discriminator tells you whether to read `halfWidth`/`halfHeight`\n * (AABB) or `radius` (Circle). Unused fields are set to 0.\n *\n * This shape is pool-friendly — all fields are assigned in place each\n * frame without allocating nested objects.\n */\nexport interface BaseColliderInfo<L extends string = string> {\n\tentityId: number;\n\tx: number;\n\ty: number;\n\tlayer: L;\n\tcollidesWith: readonly L[];\n\tshape: ColliderShape;\n\thalfWidth: number;\n\thalfHeight: number;\n\tradius: number;\n}\n\n// ==================== Collider Construction ====================\n\n/**\n * Populate a `BaseColliderInfo` slot in place from raw component data.\n * Returns `true` if the slot was filled, `false` if the entity has no\n * collider (caller should skip it).\n *\n * If an entity has both AABB and circle colliders, AABB wins and only\n * the AABB offset is applied. This matches the dispatch precedence in\n * `computeContact`; the previous implementation stacked both offsets,\n * which was a bug.\n */\nexport function fillBaseColliderInfo<L extends string>(\n\tinfo: BaseColliderInfo<L>,\n\tentityId: number,\n\tx: number,\n\ty: number,\n\tlayer: L,\n\tcollidesWith: readonly L[],\n\taabb: { width: number; height: number; offsetX?: number; offsetY?: number } | undefined,\n\tcircle: { radius: number; offsetX?: number; offsetY?: number } | undefined,\n): boolean {\n\tinfo.entityId = entityId;\n\tinfo.layer = layer;\n\tinfo.collidesWith = collidesWith;\n\n\tif (aabb) {\n\t\tinfo.x = x + (aabb.offsetX ?? 0);\n\t\tinfo.y = y + (aabb.offsetY ?? 0);\n\t\tinfo.shape = AABB_SHAPE;\n\t\tinfo.halfWidth = aabb.width / 2;\n\t\tinfo.halfHeight = aabb.height / 2;\n\t\tinfo.radius = 0;\n\t\treturn true;\n\t}\n\n\tif (circle) {\n\t\tinfo.x = x + (circle.offsetX ?? 0);\n\t\tinfo.y = y + (circle.offsetY ?? 0);\n\t\tinfo.shape = CIRCLE_SHAPE;\n\t\tinfo.halfWidth = 0;\n\t\tinfo.halfHeight = 0;\n\t\tinfo.radius = circle.radius;\n\t\treturn true;\n\t}\n\n\treturn false;\n}\n\n// ==================== Spatial Index Lookup ====================\n\n/**\n * Retrieve the optional spatialIndex resource, returning undefined when absent.\n * Centralizes the cross-plugin typed lookup so individual plugins don't each\n * need to import SpatialIndex or repeat the tryGetResource pattern.\n */\nexport function tryGetSpatialIndex(\n\ttryGetResource: <T>(key: string) => T | undefined,\n): SpatialIndex | undefined {\n\treturn tryGetResource<SpatialIndex>('spatialIndex');\n}\n\n// ==================== Narrowphase Tests ====================\n\n/**\n * Write an AABB-AABB contact into `out`. Returns `true` if the shapes\n * overlap (out was filled), `false` otherwise.\n */\nexport function computeAABBvsAABB(\n\tax: number, ay: number, ahw: number, ahh: number,\n\tbx: number, by: number, bhw: number, bhh: number,\n\tout: Contact,\n): boolean {\n\tconst dx = bx - ax;\n\tconst dy = by - ay;\n\tconst overlapX = (ahw + bhw) - Math.abs(dx);\n\tconst overlapY = (ahh + bhh) - Math.abs(dy);\n\n\tif (overlapX <= 0 || overlapY <= 0) return false;\n\n\tif (overlapX < overlapY) {\n\t\tout.normalX = dx >= 0 ? 1 : -1;\n\t\tout.normalY = 0;\n\t\tout.depth = overlapX;\n\t\treturn true;\n\t}\n\tout.normalX = 0;\n\tout.normalY = dy >= 0 ? 1 : -1;\n\tout.depth = overlapY;\n\treturn true;\n}\n\nexport function computeCircleVsCircle(\n\tax: number, ay: number, ar: number,\n\tbx: number, by: number, br: number,\n\tout: Contact,\n): boolean {\n\tconst dx = bx - ax;\n\tconst dy = by - ay;\n\tconst distSq = dx * dx + dy * dy;\n\tconst radiusSum = ar + br;\n\n\tif (distSq >= radiusSum * radiusSum) return false;\n\n\tconst dist = Math.sqrt(distSq);\n\tif (dist === 0) {\n\t\tout.normalX = 1;\n\t\tout.normalY = 0;\n\t\tout.depth = radiusSum;\n\t\treturn true;\n\t}\n\tout.normalX = dx / dist;\n\tout.normalY = dy / dist;\n\tout.depth = radiusSum - dist;\n\treturn true;\n}\n\nexport function computeAABBvsCircle(\n\taabbX: number, aabbY: number, ahw: number, ahh: number,\n\tcircleX: number, circleY: number, radius: number,\n\tout: Contact,\n): boolean {\n\tconst closestX = Math.max(aabbX - ahw, Math.min(circleX, aabbX + ahw));\n\tconst closestY = Math.max(aabbY - ahh, Math.min(circleY, aabbY + ahh));\n\n\tconst dx = circleX - closestX;\n\tconst dy = circleY - closestY;\n\tconst distSq = dx * dx + dy * dy;\n\n\tif (distSq >= radius * radius) return false;\n\n\t// Circle center inside AABB\n\tif (distSq === 0) {\n\t\tconst pushLeft = (circleX - (aabbX - ahw));\n\t\tconst pushRight = ((aabbX + ahw) - circleX);\n\t\tconst pushUp = (circleY - (aabbY - ahh));\n\t\tconst pushDown = ((aabbY + ahh) - circleY);\n\t\tconst minPush = Math.min(pushLeft, pushRight, pushUp, pushDown);\n\n\t\tif (minPush === pushRight) {\n\t\t\tout.normalX = 1; out.normalY = 0; out.depth = pushRight + radius;\n\t\t\treturn true;\n\t\t}\n\t\tif (minPush === pushLeft) {\n\t\t\tout.normalX = -1; out.normalY = 0; out.depth = pushLeft + radius;\n\t\t\treturn true;\n\t\t}\n\t\tif (minPush === pushDown) {\n\t\t\tout.normalX = 0; out.normalY = 1; out.depth = pushDown + radius;\n\t\t\treturn true;\n\t\t}\n\t\tout.normalX = 0; out.normalY = -1; out.depth = pushUp + radius;\n\t\treturn true;\n\t}\n\n\tconst dist = Math.sqrt(distSq);\n\tout.normalX = dx / dist;\n\tout.normalY = dy / dist;\n\tout.depth = radius - dist;\n\treturn true;\n}\n\n// ==================== Contact Dispatcher ====================\n\n/**\n * Dispatch to the correct narrowphase function for the given pair and\n * write the contact into `out`. Returns `true` if the pair overlaps.\n */\nexport function computeContact(a: BaseColliderInfo, b: BaseColliderInfo, out: Contact): boolean {\n\tif (a.shape === AABB_SHAPE && b.shape === AABB_SHAPE) {\n\t\treturn computeAABBvsAABB(\n\t\t\ta.x, a.y, a.halfWidth, a.halfHeight,\n\t\t\tb.x, b.y, b.halfWidth, b.halfHeight,\n\t\t\tout,\n\t\t);\n\t}\n\n\tif (a.shape === CIRCLE_SHAPE && b.shape === CIRCLE_SHAPE) {\n\t\treturn computeCircleVsCircle(\n\t\t\ta.x, a.y, a.radius,\n\t\t\tb.x, b.y, b.radius,\n\t\t\tout,\n\t\t);\n\t}\n\n\tif (a.shape === AABB_SHAPE && b.shape === CIRCLE_SHAPE) {\n\t\treturn computeAABBvsCircle(\n\t\t\ta.x, a.y, a.halfWidth, a.halfHeight,\n\t\t\tb.x, b.y, b.radius,\n\t\t\tout,\n\t\t);\n\t}\n\n\t// a is Circle, b is AABB — compute as AABB-vs-Circle, then flip normal in place\n\tif (!computeAABBvsCircle(\n\t\tb.x, b.y, b.halfWidth, b.halfHeight,\n\t\ta.x, a.y, a.radius,\n\t\tout,\n\t)) return false;\n\tout.normalX = -out.normalX;\n\tout.normalY = -out.normalY;\n\treturn true;\n}\n\n// ==================== Collision Iteration ====================\n\n/** Module-level reusable set for broadphase candidates. */\nconst _broadphaseCandidates = new Set<number>();\n\nlet _bruteForceWarned = false;\nconst BRUTE_FORCE_WARN_THRESHOLD = 50;\n\n/**\n * Generic collision detection pipeline: brute-force or broadphase,\n * with layer filtering and contact computation.\n *\n * `count` is the number of live entries at the front of `colliders`.\n * The array itself may be a grow-only pool — only indices `[0, count)`\n * are iterated, so trailing pool slots are ignored.\n *\n * `workingMap` is a caller-owned `Map<number, I>` used by the broadphase\n * path as an entityId → collider lookup. It is cleared and repopulated on\n * each call; callers should allocate it once and pass the same instance\n * every frame. Unused by the brute-force path but still required so that\n * typed reuse is the default, not an opt-in.\n *\n * Uses a context parameter forwarded to the callback to avoid\n * per-frame closure allocation.\n */\nexport function detectCollisions<I extends BaseColliderInfo, C>(\n\tcolliders: I[],\n\tcount: number,\n\tworkingMap: Map<number, I>,\n\tspatialIndex: SpatialIndex | undefined,\n\tonContact: (a: I, b: I, contact: Contact, context: C) => void,\n\tcontext: C,\n): void {\n\tif (spatialIndex) {\n\t\tbroadphaseDetect(colliders, count, workingMap, spatialIndex, onContact, context);\n\t} else {\n\t\tbruteForceDetect(colliders, count, onContact, context);\n\t}\n}\n\nfunction bruteForceDetect<I extends BaseColliderInfo, C>(\n\tcolliders: I[],\n\tcount: number,\n\tonContact: (a: I, b: I, contact: Contact, context: C) => void,\n\tcontext: C,\n): void {\n\tif (!_bruteForceWarned && count >= BRUTE_FORCE_WARN_THRESHOLD) {\n\t\t_bruteForceWarned = true;\n\t\tconsole.warn(\n\t\t\t`[ecspresso] Collision detection is using O(n²) brute force with ${count} colliders. ` +\n\t\t\t`For better performance, install createSpatialIndexPlugin() alongside your collision or physics2D plugin.`,\n\t\t);\n\t}\n\n\tfor (let i = 0; i < count; i++) {\n\t\tconst a = colliders[i];\n\t\tif (!a) continue;\n\n\t\tfor (let j = i + 1; j < count; j++) {\n\t\t\tconst b = colliders[j];\n\t\t\tif (!b) continue;\n\n\t\t\tif (!a.collidesWith.includes(b.layer) && !b.collidesWith.includes(a.layer)) continue;\n\n\t\t\tif (!computeContact(a, b, _sharedContact)) continue;\n\n\t\t\tonContact(a, b, _sharedContact, context);\n\t\t}\n\t}\n}\n\nfunction broadphaseDetect<I extends BaseColliderInfo, C>(\n\tcolliders: I[],\n\tcount: number,\n\tcolliderMap: Map<number, I>,\n\tspatialIndex: SpatialIndex,\n\tonContact: (a: I, b: I, contact: Contact, context: C) => void,\n\tcontext: C,\n): void {\n\tcolliderMap.clear();\n\tfor (let i = 0; i < count; i++) {\n\t\tconst c = colliders[i];\n\t\tif (!c) continue;\n\t\tcolliderMap.set(c.entityId, c);\n\t}\n\n\tfor (let i = 0; i < count; i++) {\n\t\tconst a = colliders[i];\n\t\tif (!a) continue;\n\n\t\tconst aHalfW = a.shape === AABB_SHAPE ? a.halfWidth : a.radius;\n\t\tconst aHalfH = a.shape === AABB_SHAPE ? a.halfHeight : a.radius;\n\n\t\t_broadphaseCandidates.clear();\n\t\tspatialIndex.queryRectInto(\n\t\t\ta.x - aHalfW, a.y - aHalfH,\n\t\t\ta.x + aHalfW, a.y + aHalfH,\n\t\t\t_broadphaseCandidates,\n\t\t);\n\n\t\t// TODO(perf): mirrors narrowphase3D — dense grids add every candidate\n\t\t// (including `a` itself and lower-ID entities) to the set before the\n\t\t// filter below discards ~half of them. Emitting only pairs with larger\n\t\t// IDs at query time would remove the post-hoc filter. Keep in sync with\n\t\t// whatever fix lands in narrowphase3D.\n\t\tfor (const bId of _broadphaseCandidates) {\n\t\t\tif (bId <= a.entityId) continue;\n\n\t\t\tconst b = colliderMap.get(bId);\n\t\t\tif (!b) continue;\n\n\t\t\tif (!a.collidesWith.includes(b.layer) && !b.collidesWith.includes(a.layer)) continue;\n\n\t\t\tif (!computeContact(a, b, _sharedContact)) continue;\n\n\t\t\tonContact(a, b, _sharedContact, context);\n\t\t}\n\t}\n}\n"
7
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9
+ "debugId": "399824DE1BC8F1D064756E2164756E21",
10
10
  "names": []
11
11
  }
package/dist/plugins/physics/collision3D.js CHANGED
@@ -1,4 +1,4 @@
1
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NJ(J,Q,N,O){E.entityA=J.entityId,E.entityB=Q.entityId,E.layerA=J.layer,E.layerB=Q.layer,E.normalX=N.normalX,E.normalY=N.normalY,E.depth=N.depth,O.publish("collision",E)}function EJ(J){let{systemGroup:Q="physics",priority:N=0,phase:O="postUpdate"}=J;return JJ("collision").withComponentTypes().withEventTypes().withLabels().withGroups().requires().install((j)=>{let G=[],V=new Map,$,F=!1;j.addSystem("collision-detection").setPriority(N).inPhase(O).inGroup(Q).addQuery("collidables",{with:["worldTransform","collisionLayer"]}).setProcess(({queries:T,ecs:K})=>{let q=0;for(let U of T.collidables){let{worldTransform:L,collisionLayer:W}=U.components,H=K.getComponent(U.id,"aabbCollider"),P=H?void 0:K.getComponent(U.id,"circleCollider");if(!H&&!P)continue;let z=G[q];if(!z)z={entityId:U.id,x:L.x,y:L.y,layer:W.layer,collidesWith:W.collidesWith,shape:w,halfWidth:0,halfHeight:0,radius:0},G[q]=z;if(!v(z,U.id,L.x,L.y,W.layer,W.collidesWith,H,P))continue;q++}if(!F)$=K.tryGetResource("spatialIndex"),F=!0;y(G,q,V,$,NJ,K.eventBus)})})}import{definePlugin as FJ}from"ecspresso";var Z={normalX:0,normalY:0,normalZ:0,depth:0},d=0;function u(J,Q,N,O,j,G,V,$,F){if(J.entityId=Q,J.layer=G,J.collidesWith=V,$)return J.x=N+($.offsetX??0),J.y=O+($.offsetY??0),J.z=j+($.offsetZ??0),J.shape=0,J.halfWidth=$.width/2,J.halfHeight=$.height/2,J.halfDepth=$.depth/2,J.radius=0,!0;if(F)return J.x=N+(F.offsetX??0),J.y=O+(F.offsetY??0),J.z=j+(F.offsetZ??0),J.shape=1,J.halfWidth=0,J.halfHeight=0,J.halfDepth=0,J.radius=F.radius,!0;return!1}function VJ(J,Q,N,O,j,G,V,$,F,T,K,q,U){let L=V-J,W=$-Q,H=F-N,P=O+T-Math.abs(L),z=j+K-Math.abs(W),M=G+q-Math.abs(H);if(P<=0||z<=0||M<=0)return!1;if(P<=z&&P<=M)return U.normalX=L>=0?1:-1,U.normalY=0,U.normalZ=0,U.depth=P,!0;if(z<=M)return U.normalX=0,U.normalY=W>=0?1:-1,U.normalZ=0,U.depth=z,!0;return U.normalX=0,U.normalY=0,U.normalZ=H>=0?1:-1,U.depth=M,!0}function OJ(J,Q,N,O,j,G,V,$,F){let T=j-J,K=G-Q,q=V-N,U=T*T+K*K+q*q,L=O+$;if(U>=L*L)return!1;let W=Math.sqrt(U);if(W===0)return F.normalX=1,F.normalY=0,F.normalZ=0,F.depth=L,!0;return F.normalX=T/W,F.normalY=K/W,F.normalZ=q/W,F.depth=L-W,!0}function h(J,Q,N,O,j,G,V,$,F,T,K){let q=Math.max(J-O,Math.min(V,J+O)),U=Math.max(Q-j,Math.min($,Q+j)),L=Math.max(N-G,Math.min(F,N+G)),W=V-q,H=$-U,P=F-L,z=W*W+H*H+P*P;if(z>=T*T)return!1;if(z===0){let S=V-(J-O),B=J+O-V,k=$-(Q-j),I=Q+j-$,X=F-(N-G),_=N+G-F,g=Math.min(S,B,k,I,X,_);if(g===B)return K.normalX=1,K.normalY=0,K.normalZ=0,K.depth=B+T,!0;if(g===S)return K.normalX=-1,K.normalY=0,K.normalZ=0,K.depth=S+T,!0;if(g===I)return K.normalX=0,K.normalY=1,K.normalZ=0,K.depth=I+T,!0;if(g===k)return K.normalX=0,K.normalY=-1,K.normalZ=0,K.depth=k+T,!0;if(g===_)return K.normalX=0,K.normalY=0,K.normalZ=1,K.depth=_+T,!0;return K.normalX=0,K.normalY=0,K.normalZ=-1,K.depth=X+T,!0}let M=Math.sqrt(z);return K.normalX=W/M,K.normalY=H/M,K.normalZ=P/M,K.depth=T-M,!0}function c(J,Q,N){if(J.shape===0&&Q.shape===0)return VJ(J.x,J.y,J.z,J.halfWidth,J.halfHeight,J.halfDepth,Q.x,Q.y,Q.z,Q.halfWidth,Q.halfHeight,Q.halfDepth,N);if(J.shape===1&&Q.shape===1)return OJ(J.x,J.y,J.z,J.radius,Q.x,Q.y,Q.z,Q.radius,N);if(J.shape===0&&Q.shape===1)return h(J.x,J.y,J.z,J.halfWidth,J.halfHeight,J.halfDepth,Q.x,Q.y,Q.z,Q.radius,N);if(!h(Q.x,Q.y,Q.z,Q.halfWidth,Q.halfHeight,Q.halfDepth,J.x,J.y,J.z,J.radius,N))return!1;return N.normalX=-N.normalX,N.normalY=-N.normalY,N.normalZ=-N.normalZ,!0}var C=new Set,b=!1,jJ=50;function n(J,Q,N,O,j,G){if(O)GJ(J,Q,N,O,j,G);else KJ(J,Q,j,G)}function KJ(J,Q,N,O){if(!b&&Q>=jJ)b=!0,console.warn(`[ecspresso] 3D collision detection is using O(n²) brute force with ${Q} colliders. For better performance, install createSpatialIndex3DPlugin() alongside your collision or physics3D plugin.`);for(let j=0;j<Q;j++){let G=J[j];if(!G)continue;for(let V=j+1;V<Q;V++){let $=J[V];if(!$)continue;if(!G.collidesWith.includes($.layer)&&!$.collidesWith.includes(G.layer))continue;if(!c(G,$,Z))continue;N(G,$,Z,O)}}}function GJ(J,Q,N,O,j,G){N.clear();for(let V=0;V<Q;V++){let $=J[V];if(!$)continue;N.set($.entityId,$)}for(let V=0;V<Q;V++){let $=J[V];if(!$)continue;let F=$.shape===0?$.halfWidth:$.radius,T=$.shape===0?$.halfHeight:$.radius,K=$.shape===0?$.halfDepth:$.radius;C.clear(),O.queryBoxInto($.x-F,$.y-T,$.z-K,$.x+F,$.y+T,$.z+K,C);for(let q of C){if(q<=$.entityId)continue;let U=N.get(q);if(!U)continue;if(!$.collidesWith.includes(U.layer)&&!U.collidesWith.includes($.layer))continue;if(!c($,U,Z))continue;j($,U,Z,G)}}}function kJ(J,Q,N,O,j,G){let V={width:J,height:Q,depth:N};if(O!==void 0)V.offsetX=O;if(j!==void 0)V.offsetY=j;if(G!==void 0)V.offsetZ=G;return{aabb3DCollider:V}}function IJ(J,Q,N,O){let j={radius:J};if(Q!==void 0)j.offsetX=Q;if(N!==void 0)j.offsetY=N;if(O!==void 0)j.offsetZ=O;return{sphereCollider:j}}var R={entityA:0,entityB:0,layerA:"",layerB:"",normalX:0,normalY:0,normalZ:0,depth:0};function UJ(J,Q,N,O){R.entityA=J.entityId,R.entityB=Q.entityId,R.layerA=J.layer,R.layerB=Q.layer,R.normalX=N.normalX,R.normalY=N.normalY,R.normalZ=N.normalZ,R.depth=N.depth,O.publish("collision3D",R)}function _J(J){let{systemGroup:Q="physics",priority:N=0,phase:O="postUpdate"}=J;return FJ("collision3D").withComponentTypes().withEventTypes().withLabels().withGroups().requires().install((j)=>{let G=[],V=new Map,$,F=!1;j.addSystem("collision3D-detection").setPriority(N).inPhase(O).inGroup(Q).addQuery("collidables",{with:["worldTransform3D","collisionLayer"]}).setProcess(({queries:T,ecs:K})=>{let q=0;for(let U of T.collidables){let{worldTransform3D:L,collisionLayer:W}=U.components,H=K.getComponent(U.id,"aabb3DCollider"),P=H?void 0:K.getComponent(U.id,"sphereCollider");if(!H&&!P)continue;let z=G[q];if(!z)z={entityId:U.id,x:L.x,y:L.y,z:L.z,layer:W.layer,collidesWith:W.collidesWith,shape:d,halfWidth:0,halfHeight:0,halfDepth:0,radius:0},G[q]=z;if(!u(z,U.id,L.x,L.y,L.z,W.layer,W.collidesWith,H,P))continue;q++}if(!F)$=K.tryGetResource("spatialIndex3D"),F=!0;n(G,q,V,$,UJ,K.eventBus)})})}export{QJ as defineCollisionLayers,IJ as createSphereCollider,$J as createCollisionPairHandler,p as createCollisionLayer,_J as createCollision3DPlugin,kJ as createAABB3DCollider};
1
+ var u=Object.defineProperty;var r=(J)=>J;function s(J,Q){this[J]=r.bind(null,Q)}var qJ=(J,Q)=>{for(var N in Q)u(J,N,{get:Q[N],enumerable:!0,configurable:!0,set:s.bind(Q,N)})};var TJ=(J,Q)=>()=>(J&&(Q=J(J=0)),Q);var gJ=((J)=>typeof require<"u"?require:typeof Proxy<"u"?new Proxy(J,{get:(Q,N)=>(typeof require<"u"?require:Q)[N]}):J)(function(J){if(typeof require<"u")return require.apply(this,arguments);throw Error('Dynamic require of "'+J+'" is not supported')});import{definePlugin as JJ}from"ecspresso";var A={normalX:0,normalY:0,depth:0},w=0;function v(J,Q,N,O,j,U,V,$){if(J.entityId=Q,J.layer=j,J.collidesWith=U,V)return J.x=N+(V.offsetX??0),J.y=O+(V.offsetY??0),J.shape=0,J.halfWidth=V.width/2,J.halfHeight=V.height/2,J.radius=0,!0;if($)return J.x=N+($.offsetX??0),J.y=O+($.offsetY??0),J.shape=1,J.halfWidth=0,J.halfHeight=0,J.radius=$.radius,!0;return!1}function i(J,Q,N,O,j,U,V,$,K){let T=j-J,G=U-Q,q=N+V-Math.abs(T),F=O+$-Math.abs(G);if(q<=0||F<=0)return!1;if(q<F)return K.normalX=T>=0?1:-1,K.normalY=0,K.depth=q,!0;return K.normalX=0,K.normalY=G>=0?1:-1,K.depth=F,!0}function e(J,Q,N,O,j,U,V){let $=O-J,K=j-Q,T=$*$+K*K,G=N+U;if(T>=G*G)return!1;let q=Math.sqrt(T);if(q===0)return V.normalX=1,V.normalY=0,V.depth=G,!0;return V.normalX=$/q,V.normalY=K/q,V.depth=G-q,!0}function X(J,Q,N,O,j,U,V,$){let K=Math.max(J-N,Math.min(j,J+N)),T=Math.max(Q-O,Math.min(U,Q+O)),G=j-K,q=U-T,F=G*G+q*q;if(F>=V*V)return!1;if(F===0){let g=j-(J-N),L=J+N-j,z=U-(Q-O),M=Q+O-U,H=Math.min(g,L,z,M);if(H===L)return $.normalX=1,$.normalY=0,$.depth=L+V,!0;if(H===g)return $.normalX=-1,$.normalY=0,$.depth=g+V,!0;if(H===M)return $.normalX=0,$.normalY=1,$.depth=M+V,!0;return $.normalX=0,$.normalY=-1,$.depth=z+V,!0}let W=Math.sqrt(F);return $.normalX=G/W,$.normalY=q/W,$.depth=V-W,!0}function x(J,Q,N){if(J.shape===0&&Q.shape===0)return i(J.x,J.y,J.halfWidth,J.halfHeight,Q.x,Q.y,Q.halfWidth,Q.halfHeight,N);if(J.shape===1&&Q.shape===1)return e(J.x,J.y,J.radius,Q.x,Q.y,Q.radius,N);if(J.shape===0&&Q.shape===1)return X(J.x,J.y,J.halfWidth,J.halfHeight,Q.x,Q.y,Q.radius,N);if(!X(Q.x,Q.y,Q.halfWidth,Q.halfHeight,J.x,J.y,J.radius,N))return!1;return N.normalX=-N.normalX,N.normalY=-N.normalY,!0}var _=new Set,Y=!1,t=50;function y(J,Q,N,O,j,U){if(O)o(J,Q,N,O,j,U);else a(J,Q,j,U)}function a(J,Q,N,O){if(!Y&&Q>=t)Y=!0,console.warn(`[ecspresso] Collision detection is using O(n²) brute force with ${Q} colliders. For better performance, install createSpatialIndexPlugin() alongside your collision or physics2D plugin.`);for(let j=0;j<Q;j++){let U=J[j];if(!U)continue;for(let V=j+1;V<Q;V++){let $=J[V];if(!$)continue;if(!U.collidesWith.includes($.layer)&&!$.collidesWith.includes(U.layer))continue;if(!x(U,$,A))continue;N(U,$,A,O)}}}function o(J,Q,N,O,j,U){N.clear();for(let V=0;V<Q;V++){let $=J[V];if(!$)continue;N.set($.entityId,$)}for(let V=0;V<Q;V++){let $=J[V];if(!$)continue;let K=$.shape===0?$.halfWidth:$.radius,T=$.shape===0?$.halfHeight:$.radius;_.clear(),O.queryRectInto($.x-K,$.y-T,$.x+K,$.y+T,_);for(let G of _){if(G<=$.entityId)continue;let q=N.get(G);if(!q)continue;if(!$.collidesWith.includes(q.layer)&&!q.collidesWith.includes($.layer))continue;if(!x($,q,A))continue;j($,q,A,U)}}}function HJ(J,Q,N,O){let j={width:J,height:Q};if(N!==void 0)j.offsetX=N;if(O!==void 0)j.offsetY=O;return{aabbCollider:j}}function PJ(J,Q,N){let O={radius:J};if(Q!==void 0)O.offsetX=Q;if(N!==void 0)O.offsetY=N;return{circleCollider:O}}function f(J,Q){return{collisionLayer:{layer:J,collidesWith:Q}}}function QJ(J){let Q={};for(let N of Object.keys(J)){let O=J[N];Q[N]=()=>f(N,O)}return Q}function p(J){let Q=J.indexOf(":");if(Q===-1)throw Error(`Invalid collision pair key "${J}": must contain a colon separator (e.g. "player:enemy")`);let N=J.slice(0,Q),O=J.slice(Q+1);if(N===""||O==="")throw Error(`Invalid collision pair key "${J}": layer names must not be empty`);return[N,O]}function $J(J){let Q=new Map,N=new Set;for(let O of Object.keys(J))p(O),N.add(O);for(let O of Object.keys(J)){let[j,U]=p(O),V=J[O];if(!V)continue;Q.set(O,{callback:V,swapped:!1});let $=`${U}:${j}`;if($!==O&&!N.has($))Q.set($,{callback:V,swapped:!0})}return function({data:j,ecs:U}){let V=Q.get(j.layerA+":"+j.layerB);if(!V)return;if(V.swapped)V.callback(j.entityB,j.entityA,U);else V.callback(j.entityA,j.entityB,U)}}var R={entityA:0,entityB:0,layerA:"",layerB:"",normalX:0,normalY:0,depth:0};function NJ(J,Q,N,O){R.entityA=J.entityId,R.entityB=Q.entityId,R.layerA=J.layer,R.layerB=Q.layer,R.normalX=N.normalX,R.normalY=N.normalY,R.depth=N.depth,O.publish("collision",R)}function RJ(J){let{systemGroup:Q="physics",priority:N=0,phase:O="postUpdate"}=J;return JJ("collision").withComponentTypes().withEventTypes().withLabels().withGroups().requires().install((j)=>{let U=[],V=new Map,$,K=!1;j.addSystem("collision-detection").setPriority(N).inPhase(O).inGroup(Q).addQuery("collidables",{with:["worldTransform","collisionLayer"]}).setProcess(({queries:T,ecs:G})=>{let q=0;for(let F of T.collidables){let{worldTransform:W,collisionLayer:g}=F.components,L=G.getComponent(F.id,"aabbCollider"),z=L?void 0:G.getComponent(F.id,"circleCollider");if(!L&&!z)continue;let M=U[q];if(!M)M={entityId:F.id,x:W.x,y:W.y,layer:g.layer,collidesWith:g.collidesWith,shape:w,halfWidth:0,halfHeight:0,radius:0},U[q]=M;if(!v(M,F.id,W.x,W.y,g.layer,g.collidesWith,L,z))continue;q++}if(!K)$=G.tryGetResource("spatialIndex"),K=!0;y(U,q,V,$,NJ,G.eventBus)})})}import{definePlugin as KJ}from"ecspresso";var k={normalX:0,normalY:0,normalZ:0,depth:0},b=0;function n(J,Q,N,O,j,U,V,$,K){if(J.entityId=Q,J.layer=U,J.collidesWith=V,$)return J.x=N+($.offsetX??0),J.y=O+($.offsetY??0),J.z=j+($.offsetZ??0),J.shape=0,J.halfWidth=$.width/2,J.halfHeight=$.height/2,J.halfDepth=$.depth/2,J.radius=0,!0;if(K)return J.x=N+(K.offsetX??0),J.y=O+(K.offsetY??0),J.z=j+(K.offsetZ??0),J.shape=1,J.halfWidth=0,J.halfHeight=0,J.halfDepth=0,J.radius=K.radius,!0;return!1}function VJ(J,Q,N,O,j,U,V,$,K,T,G,q,F){let W=V-J,g=$-Q,L=K-N,z=O+T-Math.abs(W),M=j+G-Math.abs(g),H=U+q-Math.abs(L);if(z<=0||M<=0||H<=0)return!1;if(z<=M&&z<=H)return F.normalX=W>=0?1:-1,F.normalY=0,F.normalZ=0,F.depth=z,!0;if(M<=H)return F.normalX=0,F.normalY=g>=0?1:-1,F.normalZ=0,F.depth=M,!0;return F.normalX=0,F.normalY=0,F.normalZ=L>=0?1:-1,F.depth=H,!0}function OJ(J,Q,N,O,j,U,V,$,K){let T=j-J,G=U-Q,q=V-N,F=T*T+G*G+q*q,W=O+$;if(F>=W*W)return!1;let g=Math.sqrt(F);if(g===0)return K.normalX=1,K.normalY=0,K.normalZ=0,K.depth=W,!0;return K.normalX=T/g,K.normalY=G/g,K.normalZ=q/g,K.depth=W-g,!0}function h(J,Q,N,O,j,U,V,$,K,T,G){let q=Math.max(J-O,Math.min(V,J+O)),F=Math.max(Q-j,Math.min($,Q+j)),W=Math.max(N-U,Math.min(K,N+U)),g=V-q,L=$-F,z=K-W,M=g*g+L*L+z*z;if(M>=T*T)return!1;if(M===0){let I=V-(J-O),Z=J+O-V,S=$-(Q-j),B=Q+j-$,D=K-(N-U),m=N+U-K,E=Math.min(I,Z,S,B,D,m);if(E===Z)return G.normalX=1,G.normalY=0,G.normalZ=0,G.depth=Z+T,!0;if(E===I)return G.normalX=-1,G.normalY=0,G.normalZ=0,G.depth=I+T,!0;if(E===B)return G.normalX=0,G.normalY=1,G.normalZ=0,G.depth=B+T,!0;if(E===S)return G.normalX=0,G.normalY=-1,G.normalZ=0,G.depth=S+T,!0;if(E===m)return G.normalX=0,G.normalY=0,G.normalZ=1,G.depth=m+T,!0;return G.normalX=0,G.normalY=0,G.normalZ=-1,G.depth=D+T,!0}let H=Math.sqrt(M);return G.normalX=g/H,G.normalY=L/H,G.normalZ=z/H,G.depth=T-H,!0}function c(J,Q,N){if(J.shape===0&&Q.shape===0)return VJ(J.x,J.y,J.z,J.halfWidth,J.halfHeight,J.halfDepth,Q.x,Q.y,Q.z,Q.halfWidth,Q.halfHeight,Q.halfDepth,N);if(J.shape===1&&Q.shape===1)return OJ(J.x,J.y,J.z,J.radius,Q.x,Q.y,Q.z,Q.radius,N);if(J.shape===0&&Q.shape===1)return h(J.x,J.y,J.z,J.halfWidth,J.halfHeight,J.halfDepth,Q.x,Q.y,Q.z,Q.radius,N);if(!h(Q.x,Q.y,Q.z,Q.halfWidth,Q.halfHeight,Q.halfDepth,J.x,J.y,J.z,J.radius,N))return!1;return N.normalX=-N.normalX,N.normalY=-N.normalY,N.normalZ=-N.normalZ,!0}var C=new Set,d=!1,jJ=50;function l(J,Q,N,O,j,U){if(O)UJ(J,Q,N,O,j,U);else GJ(J,Q,j,U)}function GJ(J,Q,N,O){if(!d&&Q>=jJ)d=!0,console.warn(`[ecspresso] 3D collision detection is using O(n²) brute force with ${Q} colliders. For better performance, install createSpatialIndex3DPlugin() alongside your collision or physics3D plugin.`);for(let j=0;j<Q;j++){let U=J[j];if(!U)continue;for(let V=j+1;V<Q;V++){let $=J[V];if(!$)continue;if(!U.collidesWith.includes($.layer)&&!$.collidesWith.includes(U.layer))continue;if(!c(U,$,k))continue;N(U,$,k,O)}}}function UJ(J,Q,N,O,j,U){N.clear();for(let V=0;V<Q;V++){let $=J[V];if(!$)continue;N.set($.entityId,$)}for(let V=0;V<Q;V++){let $=J[V];if(!$)continue;let K=$.shape===0?$.halfWidth:$.radius,T=$.shape===0?$.halfHeight:$.radius,G=$.shape===0?$.halfDepth:$.radius;C.clear(),O.queryBoxInto($.x-K,$.y-T,$.z-G,$.x+K,$.y+T,$.z+G,C);for(let q of C){if(q<=$.entityId)continue;let F=N.get(q);if(!F)continue;if(!$.collidesWith.includes(F.layer)&&!F.collidesWith.includes($.layer))continue;if(!c($,F,k))continue;j($,F,k,U)}}}function SJ(J,Q,N,O,j,U){let V={width:J,height:Q,depth:N};if(O!==void 0)V.offsetX=O;if(j!==void 0)V.offsetY=j;if(U!==void 0)V.offsetZ=U;return{aabb3DCollider:V}}function BJ(J,Q,N,O){let j={radius:J};if(Q!==void 0)j.offsetX=Q;if(N!==void 0)j.offsetY=N;if(O!==void 0)j.offsetZ=O;return{sphereCollider:j}}var P={entityA:0,entityB:0,layerA:"",layerB:"",normalX:0,normalY:0,normalZ:0,depth:0};function FJ(J,Q,N,O){P.entityA=J.entityId,P.entityB=Q.entityId,P.layerA=J.layer,P.layerB=Q.layer,P.normalX=N.normalX,P.normalY=N.normalY,P.normalZ=N.normalZ,P.depth=N.depth,O.publish("collision3D",P)}function mJ(J){let{systemGroup:Q="physics",priority:N=0,phase:O="postUpdate"}=J;return KJ("collision3D").withComponentTypes().withEventTypes().withLabels().withGroups().requires().install((j)=>{let U=[],V=new Map,$,K=!1;j.addSystem("collision3D-detection").setPriority(N).inPhase(O).inGroup(Q).addQuery("collidables",{with:["worldTransform3D","collisionLayer"]}).setProcess(({queries:T,ecs:G})=>{let q=0;for(let F of T.collidables){let{worldTransform3D:W,collisionLayer:g}=F.components,L=G.getComponent(F.id,"aabb3DCollider"),z=L?void 0:G.getComponent(F.id,"sphereCollider");if(!L&&!z)continue;let M=U[q];if(!M)M={entityId:F.id,x:W.x,y:W.y,z:W.z,layer:g.layer,collidesWith:g.collidesWith,shape:b,halfWidth:0,halfHeight:0,halfDepth:0,radius:0},U[q]=M;if(!n(M,F.id,W.x,W.y,W.z,g.layer,g.collidesWith,L,z))continue;q++}if(!K)$=G.tryGetResource("spatialIndex3D"),K=!0;l(U,q,V,$,FJ,G.eventBus)})})}export{QJ as defineCollisionLayers,BJ as createSphereCollider,$J as createCollisionPairHandler,f as createCollisionLayer,mJ as createCollision3DPlugin,SJ as createAABB3DCollider};
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  //# sourceMappingURL=collision3D.js.map