excalibur 0.25.2 → 0.25.3

package/build/dist/Collision/Solver/ArcadeSolver.js

@@ -0,0 +1,101 @@
+import { PostCollisionEvent, PreCollisionEvent } from '../../Events';
+import { CollisionType } from '../CollisionType';
+import { Side } from '../Side';
+import { CollisionSolver } from './Solver';
+import { BodyComponent } from '../BodyComponent';
+/**
+ * ArcadeSolver is the default in Excalibur. It solves collisions so that there is no overlap between contacts,
+ * and negates velocity along the collision normal.
+ *
+ * This is usually the type of collisions used for 2D games that don't need a more realistic collision simulation.
+ *
+ */
+export class ArcadeSolver extends CollisionSolver {
+    preSolve(contacts) {
+        for (const contact of contacts) {
+            const side = Side.fromDirection(contact.mtv);
+            const mtv = contact.mtv.negate();
+            // Publish collision events on both participants
+            contact.colliderA.events.emit('precollision', new PreCollisionEvent(contact.colliderA, contact.colliderB, side, mtv));
+            contact.colliderB.events.emit('precollision', new PreCollisionEvent(contact.colliderB, contact.colliderA, Side.getOpposite(side), mtv.negate()));
+        }
+    }
+    postSolve(contacts) {
+        var _a, _b;
+        for (const contact of contacts) {
+            const colliderA = contact.colliderA;
+            const colliderB = contact.colliderB;
+            const bodyA = (_a = colliderA.owner) === null || _a === void 0 ? void 0 : _a.get(BodyComponent);
+            const bodyB = (_b = colliderB.owner) === null || _b === void 0 ? void 0 : _b.get(BodyComponent);
+            if (bodyA && bodyB) {
+                if (bodyA.collisionType === CollisionType.Passive || bodyB.collisionType === CollisionType.Passive) {
+                    continue;
+                }
+            }
+            const side = Side.fromDirection(contact.mtv);
+            const mtv = contact.mtv.negate();
+            // Publish collision events on both participants
+            contact.colliderA.events.emit('postcollision', new PostCollisionEvent(contact.colliderA, contact.colliderB, side, mtv));
+            contact.colliderB.events.emit('postcollision', new PostCollisionEvent(contact.colliderB, contact.colliderA, Side.getOpposite(side), mtv.negate()));
+        }
+    }
+    solvePosition(contacts) {
+        var _a, _b;
+        for (const contact of contacts) {
+            // if bounds no longer interesect skip to the next
+            // this removes jitter from overlapping/stacked solid tiles or a wall of solid tiles
+            if (!contact.colliderA.bounds.intersect(contact.colliderB.bounds)) {
+                continue;
+            }
+            let mtv = contact.mtv;
+            const colliderA = contact.colliderA;
+            const colliderB = contact.colliderB;
+            const bodyA = (_a = colliderA.owner) === null || _a === void 0 ? void 0 : _a.get(BodyComponent);
+            const bodyB = (_b = colliderB.owner) === null || _b === void 0 ? void 0 : _b.get(BodyComponent);
+            if (bodyA && bodyB) {
+                if (bodyA.collisionType === CollisionType.Passive || bodyB.collisionType === CollisionType.Passive) {
+                    continue;
+                }
+                if (bodyA.collisionType === CollisionType.Active && bodyB.collisionType === CollisionType.Active) {
+                    // split overlaps if both are Active
+                    mtv = mtv.scale(0.5);
+                }
+                // Resolve overlaps
+                if (bodyA.collisionType === CollisionType.Active) {
+                    bodyA.pos.x -= mtv.x;
+                    bodyA.pos.y -= mtv.y;
+                }
+                if (bodyB.collisionType === CollisionType.Active) {
+                    bodyB.pos.x += mtv.x;
+                    bodyB.pos.y += mtv.y;
+                }
+            }
+        }
+    }
+    solveVelocity(contacts) {
+        var _a, _b;
+        for (const contact of contacts) {
+            const colliderA = contact.colliderA;
+            const colliderB = contact.colliderB;
+            const bodyA = (_a = colliderA.owner) === null || _a === void 0 ? void 0 : _a.get(BodyComponent);
+            const bodyB = (_b = colliderB.owner) === null || _b === void 0 ? void 0 : _b.get(BodyComponent);
+            if (bodyA && bodyB) {
+                if (bodyA.collisionType === CollisionType.Passive || bodyB.collisionType === CollisionType.Passive) {
+                    continue;
+                }
+                const normal = contact.normal;
+                const opposite = normal.negate();
+                // Cancel out velocity opposite direction of collision normal
+                if (bodyA.collisionType === CollisionType.Active) {
+                    const velAdj = normal.scale(normal.dot(bodyA.vel.negate()));
+                    bodyA.vel = bodyA.vel.add(velAdj);
+                }
+                if (bodyB.collisionType === CollisionType.Active) {
+                    const velAdj = opposite.scale(opposite.dot(bodyB.vel.negate()));
+                    bodyB.vel = bodyB.vel.add(velAdj);
+                }
+            }
+        }
+    }
+}
+//# sourceMappingURL=ArcadeSolver.js.map

package/build/dist/Collision/Solver/ArcadeSolver.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"ArcadeSolver.js","sourceRoot":"","sources":["../../../../src/engine/Collision/Solver/ArcadeSolver.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,kBAAkB,EAAE,iBAAiB,EAAE,MAAM,cAAc,CAAC;AAErE,OAAO,EAAE,aAAa,EAAE,MAAM,kBAAkB,CAAC;AACjD,OAAO,EAAE,IAAI,EAAE,MAAM,SAAS,CAAC;AAC/B,OAAO,EAAE,eAAe,EAAE,MAAM,UAAU,CAAC;AAC3C,OAAO,EAAE,aAAa,EAAE,MAAM,kBAAkB,CAAC;AAEjD;;;;;;GAMG;AACH,MAAM,OAAO,YAAa,SAAQ,eAAe;IACxC,QAAQ,CAAC,QAA4B;QAC1C,KAAK,MAAM,OAAO,IAAI,QAAQ,EAAE;YAC9B,MAAM,IAAI,GAAG,IAAI,CAAC,aAAa,CAAC,OAAO,CAAC,GAAG,CAAC,CAAC;YAC7C,MAAM,GAAG,GAAG,OAAO,CAAC,GAAG,CAAC,MAAM,EAAE,CAAC;YACjC,gDAAgD;YAChD,OAAO,CAAC,SAAS,CAAC,MAAM,CAAC,IAAI,CAAC,cAAc,EAAE,IAAI,iBAAiB,CAAC,OAAO,CAAC,SAAS,EAAE,OAAO,CAAC,SAAS,EAAE,IAAI,EAAE,GAAG,CAAC,CAAC,CAAC;YACtH,OAAO,CAAC,SAAS,CAAC,MAAM,CAAC,IAAI,CAC3B,cAAc,EACd,IAAI,iBAAiB,CAAC,OAAO,CAAC,SAAS,EAAE,OAAO,CAAC,SAAS,EAAE,IAAI,CAAC,WAAW,CAAC,IAAI,CAAC,EAAE,GAAG,CAAC,MAAM,EAAE,CAAC,CAClG,CAAC;SACH;IACH,CAAC;IAEM,SAAS,CAAC,QAA4B;;QAC3C,KAAK,MAAM,OAAO,IAAI,QAAQ,EAAE;YAC9B,MAAM,SAAS,GAAG,OAAO,CAAC,SAAS,CAAC;YACpC,MAAM,SAAS,GAAG,OAAO,CAAC,SAAS,CAAC;YACpC,MAAM,KAAK,GAAG,MAAA,SAAS,CAAC,KAAK,0CAAE,GAAG,CAAC,aAAa,CAAC,CAAC;YAClD,MAAM,KAAK,GAAG,MAAA,SAAS,CAAC,KAAK,0CAAE,GAAG,CAAC,aAAa,CAAC,CAAC;YAClD,IAAI,KAAK,IAAI,KAAK,EAAE;gBAClB,IAAI,KAAK,CAAC,aAAa,KAAK,aAAa,CAAC,OAAO,IAAI,KAAK,CAAC,aAAa,KAAK,aAAa,CAAC,OAAO,EAAE;oBAClG,SAAS;iBACV;aACF;YACD,MAAM,IAAI,GAAG,IAAI,CAAC,aAAa,CAAC,OAAO,CAAC,GAAG,CAAC,CAAC;YAC7C,MAAM,GAAG,GAAG,OAAO,CAAC,GAAG,CAAC,MAAM,EAAE,CAAC;YACjC,gDAAgD;YAChD,OAAO,CAAC,SAAS,CAAC,MAAM,CAAC,IAAI,CAAC,eAAe,EAAE,IAAI,kBAAkB,CAAC,OAAO,CAAC,SAAS,EAAE,OAAO,CAAC,SAAS,EAAE,IAAI,EAAE,GAAG,CAAC,CAAC,CAAC;YACxH,OAAO,CAAC,SAAS,CAAC,MAAM,CAAC,IAAI,CAC3B,eAAe,EACf,IAAI,kBAAkB,CAAC,OAAO,CAAC,SAAS,EAAE,OAAO,CAAC,SAAS,EAAE,IAAI,CAAC,WAAW,CAAC,IAAI,CAAC,EAAE,GAAG,CAAC,MAAM,EAAE,CAAC,CACnG,CAAC;SACH;IACH,CAAC;IAEM,aAAa,CAAC,QAA4B;;QAC/C,KAAK,MAAM,OAAO,IAAI,QAAQ,EAAE;YAC9B,kDAAkD;YAClD,oFAAoF;YACpF,IAAI,CAAC,OAAO,CAAC,SAAS,CAAC,MAAM,CAAC,SAAS,CAAC,OAAO,CAAC,SAAS,CAAC,MAAM,CAAC,EAAE;gBACjE,SAAS;aACV;YACD,IAAI,GAAG,GAAG,OAAO,CAAC,GAAG,CAAC;YACtB,MAAM,SAAS,GAAG,OAAO,CAAC,SAAS,CAAC;YACpC,MAAM,SAAS,GAAG,OAAO,CAAC,SAAS,CAAC;YACpC,MAAM,KAAK,GAAG,MAAA,SAAS,CAAC,KAAK,0CAAE,GAAG,CAAC,aAAa,CAAC,CAAC;YAClD,MAAM,KAAK,GAAG,MAAA,SAAS,CAAC,KAAK,0CAAE,GAAG,CAAC,aAAa,CAAC,CAAC;YAClD,IAAI,KAAK,IAAI,KAAK,EAAE;gBAClB,IAAI,KAAK,CAAC,aAAa,KAAK,aAAa,CAAC,OAAO,IAAI,KAAK,CAAC,aAAa,KAAK,aAAa,CAAC,OAAO,EAAE;oBAClG,SAAS;iBACV;gBAED,IAAI,KAAK,CAAC,aAAa,KAAK,aAAa,CAAC,MAAM,IAAI,KAAK,CAAC,aAAa,KAAK,aAAa,CAAC,MAAM,EAAE;oBAChG,oCAAoC;oBACpC,GAAG,GAAG,GAAG,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC;iBACtB;gBAED,mBAAmB;gBACnB,IAAI,KAAK,CAAC,aAAa,KAAK,aAAa,CAAC,MAAM,EAAE;oBAChD,KAAK,CAAC,GAAG,CAAC,CAAC,IAAI,GAAG,CAAC,CAAC,CAAC;oBACrB,KAAK,CAAC,GAAG,CAAC,CAAC,IAAI,GAAG,CAAC,CAAC,CAAC;iBACtB;gBAED,IAAI,KAAK,CAAC,aAAa,KAAK,aAAa,CAAC,MAAM,EAAE;oBAChD,KAAK,CAAC,GAAG,CAAC,CAAC,IAAI,GAAG,CAAC,CAAC,CAAC;oBACrB,KAAK,CAAC,GAAG,CAAC,CAAC,IAAI,GAAG,CAAC,CAAC,CAAC;iBACtB;aACF;SACF;IACH,CAAC;IAEM,aAAa,CAAC,QAA4B;;QAC/C,KAAK,MAAM,OAAO,IAAI,QAAQ,EAAE;YAC9B,MAAM,SAAS,GAAG,OAAO,CAAC,SAAS,CAAC;YACpC,MAAM,SAAS,GAAG,OAAO,CAAC,SAAS,CAAC;YACpC,MAAM,KAAK,GAAG,MAAA,SAAS,CAAC,KAAK,0CAAE,GAAG,CAAC,aAAa,CAAC,CAAC;YAClD,MAAM,KAAK,GAAG,MAAA,SAAS,CAAC,KAAK,0CAAE,GAAG,CAAC,aAAa,CAAC,CAAC;YAElD,IAAI,KAAK,IAAI,KAAK,EAAE;gBAElB,IAAI,KAAK,CAAC,aAAa,KAAK,aAAa,CAAC,OAAO,IAAI,KAAK,CAAC,aAAa,KAAK,aAAa,CAAC,OAAO,EAAE;oBAClG,SAAS;iBACV;gBAED,MAAM,MAAM,GAAG,OAAO,CAAC,MAAM,CAAC;gBAC9B,MAAM,QAAQ,GAAG,MAAM,CAAC,MAAM,EAAE,CAAC;gBAEjC,6DAA6D;gBAC7D,IAAI,KAAK,CAAC,aAAa,KAAK,aAAa,CAAC,MAAM,EAAE;oBAChD,MAAM,MAAM,GAAG,MAAM,CAAC,KAAK,CAAC,MAAM,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,CAAC,MAAM,EAAE,CAAC,CAAC,CAAC;oBAC5D,KAAK,CAAC,GAAG,GAAG,KAAK,CAAC,GAAG,CAAC,GAAG,CAAC,MAAM,CAAC,CAAC;iBACnC;gBAED,IAAI,KAAK,CAAC,aAAa,KAAK,aAAa,CAAC,MAAM,EAAE;oBAChD,MAAM,MAAM,GAAG,QAAQ,CAAC,KAAK,CAAC,QAAQ,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,CAAC,MAAM,EAAE,CAAC,CAAC,CAAC;oBAChE,KAAK,CAAC,GAAG,GAAG,KAAK,CAAC,GAAG,CAAC,GAAG,CAAC,MAAM,CAAC,CAAC;iBACnC;aACF;SACF;IACH,CAAC;CACF"}

package/build/dist/Collision/Solver/ContactConstraintPoint.js

@@ -0,0 +1,83 @@
+import { Vector } from '../../Math/vector';
+import { BodyComponent } from '../BodyComponent';
+/**
+ * Holds information about contact points, meant to be reused over multiple frames of contact
+ */
+export class ContactConstraintPoint {
+    constructor(point, local, contact) {
+        this.point = point;
+        this.local = local;
+        this.contact = contact;
+        /**
+         * Impulse accumulated over time in normal direction
+         */
+        this.normalImpulse = 0;
+        /**
+         * Impulse accumulated over time in the tangent direction
+         */
+        this.tangentImpulse = 0;
+        /**
+         * Effective mass seen in the normal direction
+         */
+        this.normalMass = 0;
+        /**
+         * Effective mass seen in the tangent direction
+         */
+        this.tangentMass = 0;
+        /**
+         * Direction from center of mass of bodyA to contact point
+         */
+        this.aToContact = new Vector(0, 0);
+        /**
+         * Direction from center of mass of bodyB to contact point
+         */
+        this.bToContact = new Vector(0, 0);
+        this.update();
+    }
+    /**
+     * Updates the contact information
+     */
+    update() {
+        var _a, _b;
+        const bodyA = (_a = this.contact.colliderA.owner) === null || _a === void 0 ? void 0 : _a.get(BodyComponent);
+        const bodyB = (_b = this.contact.colliderB.owner) === null || _b === void 0 ? void 0 : _b.get(BodyComponent);
+        if (bodyA && bodyB) {
+            const normal = this.contact.normal;
+            const tangent = this.contact.tangent;
+            this.aToContact = this.point.sub(bodyA.pos);
+            this.bToContact = this.point.sub(bodyB.pos);
+            const aToContactNormal = this.aToContact.cross(normal);
+            const bToContactNormal = this.bToContact.cross(normal);
+            this.normalMass =
+                bodyA.inverseMass +
+                    bodyB.inverseMass +
+                    bodyA.inverseInertia * aToContactNormal * aToContactNormal +
+                    bodyB.inverseInertia * bToContactNormal * bToContactNormal;
+            const aToContactTangent = this.aToContact.cross(tangent);
+            const bToContactTangent = this.bToContact.cross(tangent);
+            this.tangentMass =
+                bodyA.inverseMass +
+                    bodyB.inverseMass +
+                    bodyA.inverseInertia * aToContactTangent * aToContactTangent +
+                    bodyB.inverseInertia * bToContactTangent * bToContactTangent;
+        }
+        return this;
+    }
+    /**
+     * Returns the relative velocity between bodyA and bodyB
+     */
+    getRelativeVelocity() {
+        var _a, _b;
+        const bodyA = (_a = this.contact.colliderA.owner) === null || _a === void 0 ? void 0 : _a.get(BodyComponent);
+        const bodyB = (_b = this.contact.colliderB.owner) === null || _b === void 0 ? void 0 : _b.get(BodyComponent);
+        if (bodyA && bodyB) {
+            // Relative velocity in linear terms
+            // Angular to linear velocity formula -> omega = velocity/radius so omega x radius = velocity
+            const velA = bodyA.vel.add(Vector.cross(bodyA.angularVelocity, this.aToContact));
+            const velB = bodyB.vel.add(Vector.cross(bodyB.angularVelocity, this.bToContact));
+            return velB.sub(velA);
+        }
+        return Vector.Zero;
+    }
+}
+//# sourceMappingURL=ContactConstraintPoint.js.map

package/build/dist/Collision/Solver/ContactConstraintPoint.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"ContactConstraintPoint.js","sourceRoot":"","sources":["../../../../src/engine/Collision/Solver/ContactConstraintPoint.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,MAAM,EAAE,MAAM,mBAAmB,CAAC;AAC3C,OAAO,EAAE,aAAa,EAAE,MAAM,kBAAkB,CAAC;AAGjD;;GAEG;AACH,MAAM,OAAO,sBAAsB;IACjC,YAAmB,KAAa,EAAS,KAAa,EAAS,OAAyB;QAArE,UAAK,GAAL,KAAK,CAAQ;QAAS,UAAK,GAAL,KAAK,CAAQ;QAAS,YAAO,GAAP,OAAO,CAAkB;QAwDxF;;WAEG;QACI,kBAAa,GAAW,CAAC,CAAC;QAEjC;;WAEG;QACI,mBAAc,GAAW,CAAC,CAAC;QAElC;;WAEG;QACI,eAAU,GAAW,CAAC,CAAC;QAE9B;;WAEG;QACI,gBAAW,GAAW,CAAC,CAAC;QAE/B;;WAEG;QACI,eAAU,GAAW,IAAI,MAAM,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;QAE7C;;WAEG;QACI,eAAU,GAAW,IAAI,MAAM,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;QAnF3C,IAAI,CAAC,MAAM,EAAE,CAAC;IAChB,CAAC;IAED;;OAEG;IACH,MAAM;;QACJ,MAAM,KAAK,GAAG,MAAA,IAAI,CAAC,OAAO,CAAC,SAAS,CAAC,KAAK,0CAAE,GAAG,CAAC,aAAa,CAAC,CAAC;QAC/D,MAAM,KAAK,GAAG,MAAA,IAAI,CAAC,OAAO,CAAC,SAAS,CAAC,KAAK,0CAAE,GAAG,CAAC,aAAa,CAAC,CAAC;QAE/D,IAAI,KAAK,IAAI,KAAK,EAAE;YAClB,MAAM,MAAM,GAAG,IAAI,CAAC,OAAO,CAAC,MAAM,CAAC;YACnC,MAAM,OAAO,GAAG,IAAI,CAAC,OAAO,CAAC,OAAO,CAAC;YAErC,IAAI,CAAC,UAAU,GAAG,IAAI,CAAC,KAAK,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC;YAC5C,IAAI,CAAC,UAAU,GAAG,IAAI,CAAC,KAAK,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC;YAE5C,MAAM,gBAAgB,GAAG,IAAI,CAAC,UAAU,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC;YACvD,MAAM,gBAAgB,GAAG,IAAI,CAAC,UAAU,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC;YAEvD,IAAI,CAAC,UAAU;gBACb,KAAK,CAAC,WAAW;oBACjB,KAAK,CAAC,WAAW;oBACjB,KAAK,CAAC,cAAc,GAAG,gBAAgB,GAAG,gBAAgB;oBAC1D,KAAK,CAAC,cAAc,GAAG,gBAAgB,GAAG,gBAAgB,CAAC;YAE7D,MAAM,iBAAiB,GAAG,IAAI,CAAC,UAAU,CAAC,KAAK,CAAC,OAAO,CAAC,CAAC;YACzD,MAAM,iBAAiB,GAAG,IAAI,CAAC,UAAU,CAAC,KAAK,CAAC,OAAO,CAAC,CAAC;YAEzD,IAAI,CAAC,WAAW;gBACd,KAAK,CAAC,WAAW;oBACjB,KAAK,CAAC,WAAW;oBACjB,KAAK,CAAC,cAAc,GAAG,iBAAiB,GAAG,iBAAiB;oBAC5D,KAAK,CAAC,cAAc,GAAG,iBAAiB,GAAG,iBAAiB,CAAC;SAChE;QAED,OAAO,IAAI,CAAC;IACd,CAAC;IAED;;OAEG;IACI,mBAAmB;;QACxB,MAAM,KAAK,GAAG,MAAA,IAAI,CAAC,OAAO,CAAC,SAAS,CAAC,KAAK,0CAAE,GAAG,CAAC,aAAa,CAAC,CAAC;QAC/D,MAAM,KAAK,GAAG,MAAA,IAAI,CAAC,OAAO,CAAC,SAAS,CAAC,KAAK,0CAAE,GAAG,CAAC,aAAa,CAAC,CAAC;QAC/D,IAAI,KAAK,IAAI,KAAK,EAAE;YAClB,oCAAoC;YACpC,6FAA6F;YAC7F,MAAM,IAAI,GAAG,KAAK,CAAC,GAAG,CAAC,GAAG,CAAC,MAAM,CAAC,KAAK,CAAC,KAAK,CAAC,eAAe,EAAE,IAAI,CAAC,UAAU,CAAC,CAAC,CAAC;YACjF,MAAM,IAAI,GAAG,KAAK,CAAC,GAAG,CAAC,GAAG,CAAC,MAAM,CAAC,KAAK,CAAC,KAAK,CAAC,eAAe,EAAE,IAAI,CAAC,UAAU,CAAC,CAAC,CAAC;YACjF,OAAO,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC;SACvB;QACD,OAAO,MAAM,CAAC,IAAI,CAAC;IACrB,CAAC;CA+BF"}

package/build/dist/Collision/Solver/RealisticSolver.js

@@ -0,0 +1,248 @@
+import { CollisionPostSolveEvent, CollisionPreSolveEvent, PostCollisionEvent, PreCollisionEvent } from '../../Events';
+import { clamp } from '../../Math/util';
+import { CollisionType } from '../CollisionType';
+import { ContactConstraintPoint } from './ContactConstraintPoint';
+import { Side } from '../Side';
+import { Physics } from '../Physics';
+import { CollisionSolver } from './Solver';
+import { BodyComponent } from '../BodyComponent';
+import { CollisionJumpTable } from '../Colliders/CollisionJumpTable';
+export class RealisticSolver extends CollisionSolver {
+    constructor() {
+        super(...arguments);
+        this.lastFrameContacts = new Map();
+        // map contact id to contact points
+        this.idToContactConstraint = new Map();
+    }
+    getContactConstraints(id) {
+        var _a;
+        return (_a = this.idToContactConstraint.get(id)) !== null && _a !== void 0 ? _a : [];
+    }
+    preSolve(contacts) {
+        var _a, _b, _c;
+        for (const contact of contacts) {
+            // Publish collision events on both participants
+            const side = Side.fromDirection(contact.mtv);
+            contact.colliderA.events.emit('precollision', new PreCollisionEvent(contact.colliderA, contact.colliderB, side, contact.mtv));
+            contact.colliderA.events.emit('beforecollisionresolve', new CollisionPreSolveEvent(contact.colliderA, contact.colliderB, side, contact.mtv, contact));
+            contact.colliderB.events.emit('precollision', new PreCollisionEvent(contact.colliderB, contact.colliderA, Side.getOpposite(side), contact.mtv.negate()));
+            contact.colliderB.events.emit('beforecollisionresolve', new CollisionPreSolveEvent(contact.colliderB, contact.colliderA, Side.getOpposite(side), contact.mtv.negate(), contact));
+            // Match awake state for sleeping
+            contact.matchAwake();
+        }
+        // Keep track of contacts that done
+        const finishedContactIds = Array.from(this.idToContactConstraint.keys());
+        for (const contact of contacts) {
+            // Remove all current contacts that are not done
+            const index = finishedContactIds.indexOf(contact.id);
+            if (index > -1) {
+                finishedContactIds.splice(index, 1);
+            }
+            const contactPoints = (_a = this.idToContactConstraint.get(contact.id)) !== null && _a !== void 0 ? _a : [];
+            let pointIndex = 0;
+            const bodyA = contact.colliderA.owner.get(BodyComponent);
+            const bodyB = contact.colliderB.owner.get(BodyComponent);
+            if (bodyA && bodyB) {
+                for (const point of contact.points) {
+                    const normal = contact.normal;
+                    const tangent = contact.tangent;
+                    const aToContact = point.sub(bodyA.pos);
+                    const bToContact = point.sub(bodyB.pos);
+                    const aToContactNormal = aToContact.cross(normal);
+                    const bToContactNormal = bToContact.cross(normal);
+                    const normalMass = bodyA.inverseMass +
+                        bodyB.inverseMass +
+                        bodyA.inverseInertia * aToContactNormal * aToContactNormal +
+                        bodyB.inverseInertia * bToContactNormal * bToContactNormal;
+                    const aToContactTangent = aToContact.cross(tangent);
+                    const bToContactTangent = bToContact.cross(tangent);
+                    const tangentMass = bodyA.inverseMass +
+                        bodyB.inverseMass +
+                        bodyA.inverseInertia * aToContactTangent * aToContactTangent +
+                        bodyB.inverseInertia * bToContactTangent * bToContactTangent;
+                    // Preserve normal/tangent impulse by re-using the contact point if it's close
+                    if (contactPoints[pointIndex] && ((_c = (_b = contactPoints[pointIndex]) === null || _b === void 0 ? void 0 : _b.point) === null || _c === void 0 ? void 0 : _c.squareDistance(point)) < 4) {
+                        contactPoints[pointIndex].point = point;
+                        contactPoints[pointIndex].local = contact.localPoints[pointIndex];
+                    }
+                    else {
+                        // new contact if it's not close or doesn't exist
+                        contactPoints[pointIndex] = new ContactConstraintPoint(point, contact.localPoints[pointIndex], contact);
+                    }
+                    // Update contact point calculations
+                    contactPoints[pointIndex].aToContact = aToContact;
+                    contactPoints[pointIndex].bToContact = bToContact;
+                    contactPoints[pointIndex].normalMass = normalMass;
+                    contactPoints[pointIndex].tangentMass = tangentMass;
+                    pointIndex++;
+                }
+            }
+            this.idToContactConstraint.set(contact.id, contactPoints);
+        }
+        // Clean up any contacts that did not occur last frame
+        for (const id of finishedContactIds) {
+            this.idToContactConstraint.delete(id);
+        }
+        // Warm contacts with accumulated impulse
+        // Useful for tall stacks
+        if (Physics.warmStart) {
+            this.warmStart(contacts);
+        }
+        else {
+            for (const contact of contacts) {
+                const contactPoints = this.getContactConstraints(contact.id);
+                for (const point of contactPoints) {
+                    point.normalImpulse = 0;
+                    point.tangentImpulse = 0;
+                }
+            }
+        }
+    }
+    postSolve(contacts) {
+        for (const contact of contacts) {
+            const bodyA = contact.colliderA.owner.get(BodyComponent);
+            const bodyB = contact.colliderB.owner.get(BodyComponent);
+            if (bodyA && bodyB) {
+                // Skip post solve for active+passive collisions
+                if (bodyA.collisionType === CollisionType.Passive || bodyB.collisionType === CollisionType.Passive) {
+                    continue;
+                }
+                // Update motion values for sleeping
+                bodyA.updateMotion();
+                bodyB.updateMotion();
+            }
+            // Publish collision events on both participants
+            const side = Side.fromDirection(contact.mtv);
+            contact.colliderA.events.emit('postcollision', new PostCollisionEvent(contact.colliderA, contact.colliderB, side, contact.mtv));
+            contact.colliderA.events.emit('aftercollisionresolve', new CollisionPostSolveEvent(contact.colliderA, contact.colliderB, side, contact.mtv, contact));
+            contact.colliderB.events.emit('postcollision', new PostCollisionEvent(contact.colliderB, contact.colliderA, Side.getOpposite(side), contact.mtv.negate()));
+            contact.colliderB.events.emit('aftercollisionresolve', new CollisionPostSolveEvent(contact.colliderB, contact.colliderA, Side.getOpposite(side), contact.mtv.negate(), contact));
+        }
+        // Store contacts
+        this.lastFrameContacts.clear();
+        for (const c of contacts) {
+            this.lastFrameContacts.set(c.id, c);
+        }
+    }
+    /**
+     * Warm up body's based on previous frame contact points
+     * @param contacts
+     */
+    warmStart(contacts) {
+        var _a, _b, _c;
+        for (const contact of contacts) {
+            const bodyA = (_a = contact.colliderA.owner) === null || _a === void 0 ? void 0 : _a.get(BodyComponent);
+            const bodyB = (_b = contact.colliderB.owner) === null || _b === void 0 ? void 0 : _b.get(BodyComponent);
+            if (bodyA && bodyB) {
+                const contactPoints = (_c = this.idToContactConstraint.get(contact.id)) !== null && _c !== void 0 ? _c : [];
+                for (const point of contactPoints) {
+                    if (Physics.warmStart) {
+                        const normalImpulse = contact.normal.scale(point.normalImpulse);
+                        const tangentImpulse = contact.tangent.scale(point.tangentImpulse);
+                        const impulse = normalImpulse.add(tangentImpulse);
+                        bodyA.applyImpulse(point.point, impulse.negate());
+                        bodyB.applyImpulse(point.point, impulse);
+                    }
+                    else {
+                        point.normalImpulse = 0;
+                        point.tangentImpulse = 0;
+                    }
+                }
+            }
+        }
+    }
+    /**
+     * Iteratively solve the position overlap constraint
+     * @param contacts
+     */
+    solvePosition(contacts) {
+        var _a, _b, _c;
+        for (let i = 0; i < Physics.positionIterations; i++) {
+            for (const contact of contacts) {
+                const bodyA = (_a = contact.colliderA.owner) === null || _a === void 0 ? void 0 : _a.get(BodyComponent);
+                const bodyB = (_b = contact.colliderB.owner) === null || _b === void 0 ? void 0 : _b.get(BodyComponent);
+                if (bodyA && bodyB) {
+                    // Skip solving active+passive
+                    if (bodyA.collisionType === CollisionType.Passive || bodyB.collisionType === CollisionType.Passive) {
+                        continue;
+                    }
+                    const constraints = (_c = this.idToContactConstraint.get(contact.id)) !== null && _c !== void 0 ? _c : [];
+                    for (const point of constraints) {
+                        const normal = contact.normal;
+                        const separation = CollisionJumpTable.FindContactSeparation(contact, point.local);
+                        const steeringConstant = Physics.steeringFactor; //0.2;
+                        const maxCorrection = -5;
+                        const slop = Physics.slop; //1;
+                        // Clamp to avoid over-correction
+                        // Remember that we are shooting for 0 overlap in the end
+                        const steeringForce = clamp(steeringConstant * (separation + slop), maxCorrection, 0);
+                        const impulse = normal.scale(-steeringForce / point.normalMass);
+                        // This is a pseudo impulse, meaning we aren't doing a real impulse calculation
+                        // We adjust position and rotation instead of doing the velocity
+                        if (bodyA.collisionType === CollisionType.Active) {
+                            bodyA.pos = bodyA.pos.add(impulse.negate().scale(bodyA.inverseMass));
+                            bodyA.rotation -= point.aToContact.cross(impulse) * bodyA.inverseInertia;
+                        }
+                        if (bodyB.collisionType === CollisionType.Active) {
+                            bodyB.pos = bodyB.pos.add(impulse.scale(bodyB.inverseMass));
+                            bodyB.rotation += point.bToContact.cross(impulse) * bodyB.inverseInertia;
+                        }
+                    }
+                }
+            }
+        }
+    }
+    solveVelocity(contacts) {
+        var _a, _b, _c;
+        for (let i = 0; i < Physics.velocityIterations; i++) {
+            for (const contact of contacts) {
+                const bodyA = (_a = contact.colliderA.owner) === null || _a === void 0 ? void 0 : _a.get(BodyComponent);
+                const bodyB = (_b = contact.colliderB.owner) === null || _b === void 0 ? void 0 : _b.get(BodyComponent);
+                if (bodyA && bodyB) {
+                    // Skip solving active+passive
+                    if (bodyA.collisionType === CollisionType.Passive || bodyB.collisionType === CollisionType.Passive) {
+                        continue;
+                    }
+                    const restitution = bodyA.bounciness * bodyB.bounciness;
+                    const friction = Math.min(bodyA.friction, bodyB.friction);
+                    const constraints = (_c = this.idToContactConstraint.get(contact.id)) !== null && _c !== void 0 ? _c : [];
+                    for (const point of constraints) {
+                        const relativeVelocity = point.getRelativeVelocity();
+                        // Negate velocity in tangent direction to simulate friction
+                        const tangentVelocity = -relativeVelocity.dot(contact.tangent);
+                        let impulseDelta = tangentVelocity / point.tangentMass;
+                        // Clamping based in Erin Catto's GDC 2006 talk
+                        // Correct clamping https://github.com/erincatto/box2d-lite/blob/master/docs/GDC2006_Catto_Erin_PhysicsTutorial.pdf
+                        // Accumulated fiction impulse is always between -uMaxFriction < dT < uMaxFriction
+                        // But deltas can vary
+                        const maxFriction = friction * point.normalImpulse;
+                        const newImpulse = clamp(point.tangentImpulse + impulseDelta, -maxFriction, maxFriction);
+                        impulseDelta = newImpulse - point.tangentImpulse;
+                        point.tangentImpulse = newImpulse;
+                        const impulse = contact.tangent.scale(impulseDelta);
+                        bodyA.applyImpulse(point.point, impulse.negate());
+                        bodyB.applyImpulse(point.point, impulse);
+                    }
+                    for (const point of constraints) {
+                        // Need to recalc relative velocity because the previous step could have changed vel
+                        const relativeVelocity = point.getRelativeVelocity();
+                        // Compute impulse in normal direction
+                        const normalVelocity = relativeVelocity.dot(contact.normal);
+                        // See https://en.wikipedia.org/wiki/Collision_response
+                        let impulseDelta = (-(1 + restitution) * normalVelocity) / point.normalMass;
+                        // Clamping based in Erin Catto's GDC 2014 talk
+                        // Accumulated impulse stored in the contact is always positive (dV > 0)
+                        // But deltas can be negative
+                        const newImpulse = Math.max(point.normalImpulse + impulseDelta, 0);
+                        impulseDelta = newImpulse - point.normalImpulse;
+                        point.normalImpulse = newImpulse;
+                        const impulse = contact.normal.scale(impulseDelta);
+                        bodyA.applyImpulse(point.point, impulse.negate());
+                        bodyB.applyImpulse(point.point, impulse);
+                    }
+                }
+            }
+        }
+    }
+}
+//# sourceMappingURL=RealisticSolver.js.map

package/build/dist/Collision/Solver/RealisticSolver.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"RealisticSolver.js","sourceRoot":"","sources":["../../../../src/engine/Collision/Solver/RealisticSolver.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,uBAAuB,EAAE,sBAAsB,EAAE,kBAAkB,EAAE,iBAAiB,EAAE,MAAM,cAAc,CAAC;AACtH,OAAO,EAAE,KAAK,EAAE,MAAM,iBAAiB,CAAC;AAExC,OAAO,EAAE,aAAa,EAAE,MAAM,kBAAkB,CAAC;AACjD,OAAO,EAAE,sBAAsB,EAAE,MAAM,0BAA0B,CAAC;AAClE,OAAO,EAAE,IAAI,EAAE,MAAM,SAAS,CAAC;AAC/B,OAAO,EAAE,OAAO,EAAE,MAAM,YAAY,CAAC;AACrC,OAAO,EAAE,eAAe,EAAE,MAAM,UAAU,CAAC;AAC3C,OAAO,EAAE,aAAa,EAAE,MAAM,kBAAkB,CAAC;AACjD,OAAO,EAAE,kBAAkB,EAAE,MAAM,iCAAiC,CAAC;AAErE,MAAM,OAAO,eAAgB,SAAQ,eAAe;IAApD;;QACE,sBAAiB,GAAkC,IAAI,GAAG,EAAE,CAAC;QAE7D,mCAAmC;QACnC,0BAAqB,GAA0C,IAAI,GAAG,EAAE,CAAC;IA4R3E,CAAC;IA1RC,qBAAqB,CAAC,EAAU;;QAC9B,OAAO,MAAA,IAAI,CAAC,qBAAqB,CAAC,GAAG,CAAC,EAAE,CAAC,mCAAI,EAAE,CAAC;IAClD,CAAC;IAED,QAAQ,CAAC,QAA4B;;QACnC,KAAK,MAAM,OAAO,IAAI,QAAQ,EAAE;YAC9B,gDAAgD;YAChD,MAAM,IAAI,GAAG,IAAI,CAAC,aAAa,CAAC,OAAO,CAAC,GAAG,CAAC,CAAC;YAC7C,OAAO,CAAC,SAAS,CAAC,MAAM,CAAC,IAAI,CAAC,cAAc,EAAE,IAAI,iBAAiB,CAAC,OAAO,CAAC,SAAS,EAAE,OAAO,CAAC,SAAS,EAAE,IAAI,EAAE,OAAO,CAAC,GAAG,CAAC,CAAC,CAAC;YAC9H,OAAO,CAAC,SAAS,CAAC,MAAM,CAAC,IAAI,CAC3B,wBAAwB,EACxB,IAAI,sBAAsB,CAAC,OAAO,CAAC,SAAS,EAAE,OAAO,CAAC,SAAS,EAAE,IAAI,EAAE,OAAO,CAAC,GAAG,EAAE,OAAO,CAAQ,CACpG,CAAC;YACF,OAAO,CAAC,SAAS,CAAC,MAAM,CAAC,IAAI,CAC3B,cAAc,EACd,IAAI,iBAAiB,CAAC,OAAO,CAAC,SAAS,EAAE,OAAO,CAAC,SAAS,EAAE,IAAI,CAAC,WAAW,CAAC,IAAI,CAAC,EAAE,OAAO,CAAC,GAAG,CAAC,MAAM,EAAE,CAAC,CAC1G,CAAC;YACF,OAAO,CAAC,SAAS,CAAC,MAAM,CAAC,IAAI,CAC3B,wBAAwB,EACxB,IAAI,sBAAsB,CAAC,OAAO,CAAC,SAAS,EAAE,OAAO,CAAC,SAAS,EAAE,IAAI,CAAC,WAAW,CAAC,IAAI,CAAC,EAAE,OAAO,CAAC,GAAG,CAAC,MAAM,EAAE,EAAE,OAAO,CAAQ,CAC/H,CAAC;YAEF,iCAAiC;YACjC,OAAO,CAAC,UAAU,EAAE,CAAC;SACtB;QAED,mCAAmC;QACnC,MAAM,kBAAkB,GAAG,KAAK,CAAC,IAAI,CAAC,IAAI,CAAC,qBAAqB,CAAC,IAAI,EAAE,CAAC,CAAC;QACzE,KAAK,MAAM,OAAO,IAAI,QAAQ,EAAE;YAC9B,gDAAgD;YAChD,MAAM,KAAK,GAAG,kBAAkB,CAAC,OAAO,CAAC,OAAO,CAAC,EAAE,CAAC,CAAC;YACrD,IAAI,KAAK,GAAG,CAAC,CAAC,EAAE;gBACd,kBAAkB,CAAC,MAAM,CAAC,KAAK,EAAE,CAAC,CAAC,CAAC;aACrC;YACD,MAAM,aAAa,GAAG,MAAA,IAAI,CAAC,qBAAqB,CAAC,GAAG,CAAC,OAAO,CAAC,EAAE,CAAC,mCAAI,EAAE,CAAC;YAEvE,IAAI,UAAU,GAAG,CAAC,CAAC;YACnB,MAAM,KAAK,GAAG,OAAO,CAAC,SAAS,CAAC,KAAK,CAAC,GAAG,CAAC,aAAa,CAAC,CAAC;YACzD,MAAM,KAAK,GAAG,OAAO,CAAC,SAAS,CAAC,KAAK,CAAC,GAAG,CAAC,aAAa,CAAC,CAAC;YACzD,IAAI,KAAK,IAAI,KAAK,EAAE;gBAClB,KAAK,MAAM,KAAK,IAAI,OAAO,CAAC,MAAM,EAAE;oBAClC,MAAM,MAAM,GAAG,OAAO,CAAC,MAAM,CAAC;oBAC9B,MAAM,OAAO,GAAG,OAAO,CAAC,OAAO,CAAC;oBAEhC,MAAM,UAAU,GAAG,KAAK,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC;oBACxC,MAAM,UAAU,GAAG,KAAK,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC;oBAExC,MAAM,gBAAgB,GAAG,UAAU,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC;oBAClD,MAAM,gBAAgB,GAAG,UAAU,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC;oBAElD,MAAM,UAAU,GACd,KAAK,CAAC,WAAW;wBACjB,KAAK,CAAC,WAAW;wBACjB,KAAK,CAAC,cAAc,GAAG,gBAAgB,GAAG,gBAAgB;wBAC1D,KAAK,CAAC,cAAc,GAAG,gBAAgB,GAAG,gBAAgB,CAAC;oBAE7D,MAAM,iBAAiB,GAAG,UAAU,CAAC,KAAK,CAAC,OAAO,CAAC,CAAC;oBACpD,MAAM,iBAAiB,GAAG,UAAU,CAAC,KAAK,CAAC,OAAO,CAAC,CAAC;oBAEpD,MAAM,WAAW,GACf,KAAK,CAAC,WAAW;wBACjB,KAAK,CAAC,WAAW;wBACjB,KAAK,CAAC,cAAc,GAAG,iBAAiB,GAAG,iBAAiB;wBAC5D,KAAK,CAAC,cAAc,GAAG,iBAAiB,GAAG,iBAAiB,CAAC;oBAE/D,8EAA8E;oBAC9E,IAAI,aAAa,CAAC,UAAU,CAAC,IAAI,CAAA,MAAA,MAAA,aAAa,CAAC,UAAU,CAAC,0CAAE,KAAK,0CAAE,cAAc,CAAC,KAAK,CAAC,IAAG,CAAC,EAAE;wBAC5F,aAAa,CAAC,UAAU,CAAC,CAAC,KAAK,GAAG,KAAK,CAAC;wBACxC,aAAa,CAAC,UAAU,CAAC,CAAC,KAAK,GAAG,OAAO,CAAC,WAAW,CAAC,UAAU,CAAC,CAAC;qBACnE;yBAAM;wBACL,iDAAiD;wBACjD,aAAa,CAAC,UAAU,CAAC,GAAG,IAAI,sBAAsB,CAAC,KAAK,EAAE,OAAO,CAAC,WAAW,CAAC,UAAU,CAAC,EAAE,OAAO,CAAC,CAAC;qBACzG;oBAED,oCAAoC;oBACpC,aAAa,CAAC,UAAU,CAAC,CAAC,UAAU,GAAG,UAAU,CAAC;oBAClD,aAAa,CAAC,UAAU,CAAC,CAAC,UAAU,GAAG,UAAU,CAAC;oBAClD,aAAa,CAAC,UAAU,CAAC,CAAC,UAAU,GAAG,UAAU,CAAC;oBAClD,aAAa,CAAC,UAAU,CAAC,CAAC,WAAW,GAAG,WAAW,CAAC;oBAEpD,UAAU,EAAE,CAAC;iBACd;aACF;YACD,IAAI,CAAC,qBAAqB,CAAC,GAAG,CAAC,OAAO,CAAC,EAAE,EAAE,aAAa,CAAC,CAAC;SAC3D;QAED,sDAAsD;QACtD,KAAK,MAAM,EAAE,IAAI,kBAAkB,EAAE;YACnC,IAAI,CAAC,qBAAqB,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC;SACvC;QAED,yCAAyC;QACzC,yBAAyB;QACzB,IAAI,OAAO,CAAC,SAAS,EAAE;YACrB,IAAI,CAAC,SAAS,CAAC,QAAQ,CAAC,CAAC;SAC1B;aAAM;YACL,KAAK,MAAM,OAAO,IAAI,QAAQ,EAAE;gBAC9B,MAAM,aAAa,GAAG,IAAI,CAAC,qBAAqB,CAAC,OAAO,CAAC,EAAE,CAAC,CAAC;gBAC7D,KAAK,MAAM,KAAK,IAAI,aAAa,EAAE;oBACjC,KAAK,CAAC,aAAa,GAAG,CAAC,CAAC;oBACxB,KAAK,CAAC,cAAc,GAAG,CAAC,CAAC;iBAC1B;aACF;SACF;IACH,CAAC;IAED,SAAS,CAAC,QAA4B;QACpC,KAAK,MAAM,OAAO,IAAI,QAAQ,EAAE;YAC9B,MAAM,KAAK,GAAG,OAAO,CAAC,SAAS,CAAC,KAAK,CAAC,GAAG,CAAC,aAAa,CAAC,CAAC;YACzD,MAAM,KAAK,GAAG,OAAO,CAAC,SAAS,CAAC,KAAK,CAAC,GAAG,CAAC,aAAa,CAAC,CAAC;YAEzD,IAAI,KAAK,IAAI,KAAK,EAAE;gBAClB,gDAAgD;gBAChD,IAAI,KAAK,CAAC,aAAa,KAAK,aAAa,CAAC,OAAO,IAAI,KAAK,CAAC,aAAa,KAAK,aAAa,CAAC,OAAO,EAAE;oBAClG,SAAS;iBACV;gBAED,oCAAoC;gBACpC,KAAK,CAAC,YAAY,EAAE,CAAC;gBACrB,KAAK,CAAC,YAAY,EAAE,CAAC;aACtB;YAED,gDAAgD;YAChD,MAAM,IAAI,GAAG,IAAI,CAAC,aAAa,CAAC,OAAO,CAAC,GAAG,CAAC,CAAC;YAC7C,OAAO,CAAC,SAAS,CAAC,MAAM,CAAC,IAAI,CAAC,eAAe,EAAE,IAAI,kBAAkB,CAAC,OAAO,CAAC,SAAS,EAAE,OAAO,CAAC,SAAS,EAAE,IAAI,EAAE,OAAO,CAAC,GAAG,CAAC,CAAC,CAAC;YAChI,OAAO,CAAC,SAAS,CAAC,MAAM,CAAC,IAAI,CAC3B,uBAAuB,EACvB,IAAI,uBAAuB,CAAC,OAAO,CAAC,SAAS,EAAE,OAAO,CAAC,SAAS,EAAE,IAAI,EAAE,OAAO,CAAC,GAAG,EAAE,OAAO,CAAQ,CACrG,CAAC;YACF,OAAO,CAAC,SAAS,CAAC,MAAM,CAAC,IAAI,CAC3B,eAAe,EACf,IAAI,kBAAkB,CAAC,OAAO,CAAC,SAAS,EAAE,OAAO,CAAC,SAAS,EAAE,IAAI,CAAC,WAAW,CAAC,IAAI,CAAC,EAAE,OAAO,CAAC,GAAG,CAAC,MAAM,EAAE,CAAC,CAC3G,CAAC;YACF,OAAO,CAAC,SAAS,CAAC,MAAM,CAAC,IAAI,CAC3B,uBAAuB,EACvB,IAAI,uBAAuB,CAAC,OAAO,CAAC,SAAS,EAAE,OAAO,CAAC,SAAS,EAAE,IAAI,CAAC,WAAW,CAAC,IAAI,CAAC,EAAE,OAAO,CAAC,GAAG,CAAC,MAAM,EAAE,EAAE,OAAO,CAAQ,CAChI,CAAC;SACH;QAED,iBAAiB;QACjB,IAAI,CAAC,iBAAiB,CAAC,KAAK,EAAE,CAAC;QAC/B,KAAK,MAAM,CAAC,IAAI,QAAQ,EAAE;YACxB,IAAI,CAAC,iBAAiB,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC;SACrC;IACH,CAAC;IAED;;;OAGG;IACH,SAAS,CAAC,QAA4B;;QACpC,KAAK,MAAM,OAAO,IAAI,QAAQ,EAAE;YAC9B,MAAM,KAAK,GAAG,MAAA,OAAO,CAAC,SAAS,CAAC,KAAK,0CAAE,GAAG,CAAC,aAAa,CAAC,CAAC;YAC1D,MAAM,KAAK,GAAG,MAAA,OAAO,CAAC,SAAS,CAAC,KAAK,0CAAE,GAAG,CAAC,aAAa,CAAC,CAAC;YAC1D,IAAI,KAAK,IAAI,KAAK,EAAE;gBAClB,MAAM,aAAa,GAAG,MAAA,IAAI,CAAC,qBAAqB,CAAC,GAAG,CAAC,OAAO,CAAC,EAAE,CAAC,mCAAI,EAAE,CAAC;gBACvE,KAAK,MAAM,KAAK,IAAI,aAAa,EAAE;oBACjC,IAAI,OAAO,CAAC,SAAS,EAAE;wBACrB,MAAM,aAAa,GAAG,OAAO,CAAC,MAAM,CAAC,KAAK,CAAC,KAAK,CAAC,aAAa,CAAC,CAAC;wBAChE,MAAM,cAAc,GAAG,OAAO,CAAC,OAAO,CAAC,KAAK,CAAC,KAAK,CAAC,cAAc,CAAC,CAAC;wBACnE,MAAM,OAAO,GAAG,aAAa,CAAC,GAAG,CAAC,cAAc,CAAC,CAAC;wBAElD,KAAK,CAAC,YAAY,CAAC,KAAK,CAAC,KAAK,EAAE,OAAO,CAAC,MAAM,EAAE,CAAC,CAAC;wBAClD,KAAK,CAAC,YAAY,CAAC,KAAK,CAAC,KAAK,EAAE,OAAO,CAAC,CAAC;qBAC1C;yBAAM;wBACL,KAAK,CAAC,aAAa,GAAG,CAAC,CAAC;wBACxB,KAAK,CAAC,cAAc,GAAG,CAAC,CAAC;qBAC1B;iBACF;aACF;SACF;IACH,CAAC;IAED;;;OAGG;IACH,aAAa,CAAC,QAA4B;;QACxC,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,OAAO,CAAC,kBAAkB,EAAE,CAAC,EAAE,EAAE;YACnD,KAAK,MAAM,OAAO,IAAI,QAAQ,EAAE;gBAC9B,MAAM,KAAK,GAAG,MAAA,OAAO,CAAC,SAAS,CAAC,KAAK,0CAAE,GAAG,CAAC,aAAa,CAAC,CAAC;gBAC1D,MAAM,KAAK,GAAG,MAAA,OAAO,CAAC,SAAS,CAAC,KAAK,0CAAE,GAAG,CAAC,aAAa,CAAC,CAAC;gBAE1D,IAAI,KAAK,IAAI,KAAK,EAAE;oBAClB,8BAA8B;oBAC9B,IAAI,KAAK,CAAC,aAAa,KAAK,aAAa,CAAC,OAAO,IAAI,KAAK,CAAC,aAAa,KAAK,aAAa,CAAC,OAAO,EAAE;wBAClG,SAAS;qBACV;oBAED,MAAM,WAAW,GAAG,MAAA,IAAI,CAAC,qBAAqB,CAAC,GAAG,CAAC,OAAO,CAAC,EAAE,CAAC,mCAAI,EAAE,CAAC;oBACrE,KAAK,MAAM,KAAK,IAAI,WAAW,EAAE;wBAC/B,MAAM,MAAM,GAAG,OAAO,CAAC,MAAM,CAAC;wBAC9B,MAAM,UAAU,GAAG,kBAAkB,CAAC,qBAAqB,CAAC,OAAO,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;wBAElF,MAAM,gBAAgB,GAAG,OAAO,CAAC,cAAc,CAAC,CAAC,MAAM;wBACvD,MAAM,aAAa,GAAG,CAAC,CAAC,CAAC;wBACzB,MAAM,IAAI,GAAG,OAAO,CAAC,IAAI,CAAC,CAAC,IAAI;wBAE/B,iCAAiC;wBACjC,yDAAyD;wBACzD,MAAM,aAAa,GAAG,KAAK,CAAC,gBAAgB,GAAG,CAAC,UAAU,GAAG,IAAI,CAAC,EAAE,aAAa,EAAE,CAAC,CAAC,CAAC;wBACtF,MAAM,OAAO,GAAG,MAAM,CAAC,KAAK,CAAC,CAAC,aAAa,GAAG,KAAK,CAAC,UAAU,CAAC,CAAC;wBAEhE,+EAA+E;wBAC/E,gEAAgE;wBAChE,IAAI,KAAK,CAAC,aAAa,KAAK,aAAa,CAAC,MAAM,EAAE;4BAChD,KAAK,CAAC,GAAG,GAAG,KAAK,CAAC,GAAG,CAAC,GAAG,CAAC,OAAO,CAAC,MAAM,EAAE,CAAC,KAAK,CAAC,KAAK,CAAC,WAAW,CAAC,CAAC,CAAC;4BACrE,KAAK,CAAC,QAAQ,IAAI,KAAK,CAAC,UAAU,CAAC,KAAK,CAAC,OAAO,CAAC,GAAG,KAAK,CAAC,cAAc,CAAC;yBAC1E;wBAED,IAAI,KAAK,CAAC,aAAa,KAAK,aAAa,CAAC,MAAM,EAAE;4BAChD,KAAK,CAAC,GAAG,GAAG,KAAK,CAAC,GAAG,CAAC,GAAG,CAAC,OAAO,CAAC,KAAK,CAAC,KAAK,CAAC,WAAW,CAAC,CAAC,CAAC;4BAC5D,KAAK,CAAC,QAAQ,IAAI,KAAK,CAAC,UAAU,CAAC,KAAK,CAAC,OAAO,CAAC,GAAG,KAAK,CAAC,cAAc,CAAC;yBAC1E;qBACF;iBACF;aACF;SACF;IACH,CAAC;IAED,aAAa,CAAC,QAA4B;;QACxC,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,OAAO,CAAC,kBAAkB,EAAE,CAAC,EAAE,EAAE;YACnD,KAAK,MAAM,OAAO,IAAI,QAAQ,EAAE;gBAC9B,MAAM,KAAK,GAAG,MAAA,OAAO,CAAC,SAAS,CAAC,KAAK,0CAAE,GAAG,CAAC,aAAa,CAAC,CAAC;gBAC1D,MAAM,KAAK,GAAG,MAAA,OAAO,CAAC,SAAS,CAAC,KAAK,0CAAE,GAAG,CAAC,aAAa,CAAC,CAAC;gBAE1D,IAAI,KAAK,IAAI,KAAK,EAAE;oBAClB,8BAA8B;oBAC9B,IAAI,KAAK,CAAC,aAAa,KAAK,aAAa,CAAC,OAAO,IAAI,KAAK,CAAC,aAAa,KAAK,aAAa,CAAC,OAAO,EAAE;wBAClG,SAAS;qBACV;oBAED,MAAM,WAAW,GAAG,KAAK,CAAC,UAAU,GAAG,KAAK,CAAC,UAAU,CAAC;oBACxD,MAAM,QAAQ,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,QAAQ,EAAE,KAAK,CAAC,QAAQ,CAAC,CAAC;oBAE1D,MAAM,WAAW,GAAG,MAAA,IAAI,CAAC,qBAAqB,CAAC,GAAG,CAAC,OAAO,CAAC,EAAE,CAAC,mCAAI,EAAE,CAAC;oBAErE,KAAK,MAAM,KAAK,IAAI,WAAW,EAAE;wBAC/B,MAAM,gBAAgB,GAAG,KAAK,CAAC,mBAAmB,EAAE,CAAC;wBAErD,4DAA4D;wBAC5D,MAAM,eAAe,GAAG,CAAC,gBAAgB,CAAC,GAAG,CAAC,OAAO,CAAC,OAAO,CAAC,CAAC;wBAC/D,IAAI,YAAY,GAAG,eAAe,GAAG,KAAK,CAAC,WAAW,CAAC;wBAEvD,+CAA+C;wBAC/C,mHAAmH;wBACnH,kFAAkF;wBAClF,sBAAsB;wBACtB,MAAM,WAAW,GAAG,QAAQ,GAAG,KAAK,CAAC,aAAa,CAAC;wBACnD,MAAM,UAAU,GAAG,KAAK,CAAC,KAAK,CAAC,cAAc,GAAG,YAAY,EAAE,CAAC,WAAW,EAAE,WAAW,CAAC,CAAC;wBACzF,YAAY,GAAG,UAAU,GAAG,KAAK,CAAC,cAAc,CAAC;wBACjD,KAAK,CAAC,cAAc,GAAG,UAAU,CAAC;wBAElC,MAAM,OAAO,GAAG,OAAO,CAAC,OAAO,CAAC,KAAK,CAAC,YAAY,CAAC,CAAC;wBACpD,KAAK,CAAC,YAAY,CAAC,KAAK,CAAC,KAAK,EAAE,OAAO,CAAC,MAAM,EAAE,CAAC,CAAC;wBAClD,KAAK,CAAC,YAAY,CAAC,KAAK,CAAC,KAAK,EAAE,OAAO,CAAC,CAAC;qBAC1C;oBAED,KAAK,MAAM,KAAK,IAAI,WAAW,EAAE;wBAC/B,oFAAoF;wBACpF,MAAM,gBAAgB,GAAG,KAAK,CAAC,mBAAmB,EAAE,CAAC;wBAErD,sCAAsC;wBACtC,MAAM,cAAc,GAAG,gBAAgB,CAAC,GAAG,CAAC,OAAO,CAAC,MAAM,CAAC,CAAC;wBAC5D,uDAAuD;wBACvD,IAAI,YAAY,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,WAAW,CAAC,GAAG,cAAc,CAAC,GAAG,KAAK,CAAC,UAAU,CAAC;wBAE5E,+CAA+C;wBAC/C,wEAAwE;wBACxE,6BAA6B;wBAC7B,MAAM,UAAU,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,aAAa,GAAG,YAAY,EAAE,CAAC,CAAC,CAAC;wBACnE,YAAY,GAAG,UAAU,GAAG,KAAK,CAAC,aAAa,CAAC;wBAChD,KAAK,CAAC,aAAa,GAAG,UAAU,CAAC;wBAEjC,MAAM,OAAO,GAAG,OAAO,CAAC,MAAM,CAAC,KAAK,CAAC,YAAY,CAAC,CAAC;wBACnD,KAAK,CAAC,YAAY,CAAC,KAAK,CAAC,KAAK,EAAE,OAAO,CAAC,MAAM,EAAE,CAAC,CAAC;wBAClD,KAAK,CAAC,YAAY,CAAC,KAAK,CAAC,KAAK,EAAE,OAAO,CAAC,CAAC;qBAC1C;iBACF;aACF;SACF;IACH,CAAC;CACF"}

package/build/dist/Collision/Solver/Solver.js

@@ -0,0 +1,37 @@
+/**
+ * A collision solver figures out how to position colliders such that they are no longer overlapping
+ *
+ * Solvers are executed in the order
+ *
+ * 1. preSolve
+ * 2. solveVelocity
+ * 3. solvePosition
+ * 4. postSolve
+ * @inheritdoc
+ */
+export class CollisionSolver {
+    /**
+     * Solves overlapping contact in
+     *
+     * Solvers are executed in the order
+     * 1. preSolve
+     * 2. solveVelocity
+     * 3. solvePosition
+     * 4. postSolve
+     * @param contacts
+     */
+    solve(contacts) {
+        // Events and init
+        this.preSolve(contacts);
+        // Remove any canceled contacts
+        contacts = contacts.filter(c => !c.isCanceled());
+        // Solve velocity first
+        this.solveVelocity(contacts);
+        // Solve position last because non-overlap is the most important
+        this.solvePosition(contacts);
+        // Events and any contact house-keeping the solver needs
+        this.postSolve(contacts);
+        return contacts;
+    }
+}
+//# sourceMappingURL=Solver.js.map

package/build/dist/Collision/Solver/Solver.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"Solver.js","sourceRoot":"","sources":["../../../../src/engine/Collision/Solver/Solver.ts"],"names":[],"mappings":"AAEA;;;;;;;;;;GAUG;AACH,MAAM,OAAgB,eAAe;IA8BnC;;;;;;;;;OASG;IACI,KAAK,CAAC,QAA4B;QACvC,kBAAkB;QAClB,IAAI,CAAC,QAAQ,CAAC,QAAQ,CAAC,CAAC;QAExB,+BAA+B;QAC/B,QAAQ,GAAG,QAAQ,CAAC,MAAM,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,UAAU,EAAE,CAAC,CAAC;QAEjD,uBAAuB;QACvB,IAAI,CAAC,aAAa,CAAC,QAAQ,CAAC,CAAC;QAE7B,gEAAgE;QAChE,IAAI,CAAC,aAAa,CAAC,QAAQ,CAAC,CAAC;QAE7B,wDAAwD;QACxD,IAAI,CAAC,SAAS,CAAC,QAAQ,CAAC,CAAC;QAEzB,OAAO,QAAQ,CAAC;IAClB,CAAC;CACF"}