import type {
  Collider,
  ColliderDesc,
  EventQueue,
  PhysicsHooks,
  RigidBody,
  World as RapierWorld,
} from '@dimforge/rapier2d-compat';
import { isHandleEnabled, worldMatrixOf } from '../../core/graph';
import { apply, determinant, IDENTITY, invert } from '../../core/model/matrix';
import type { Vec2 } from '../../core/model/Properties';
import { parentChain } from '../../core/model/walk';
import { collisionFilterOf, interactionGroups } from '../../core/model/collisionLayers';
import type { TileMaterial } from '../../core/model/tilemapCollision';
import {
  type ColliderShape,
  contactBetween,
  isTrigger,
  type OneWaySide,
  movedShape,
  shapeArea,
  shapesOverlap,
} from '../../core/properties/collider';
import { hasTransformProps } from '../../core/properties/PropertySchema';
import {
  type BodyType,
  colliderMaterial,
  type RigidbodySettings,
  rigidbodySettings,
  sceneGravity,
} from '../../core/properties/rigidbody';
import type { Entity } from '../Entity';
import type { World } from '../World';
import {
  type Blocked,
  blockingCollidersOf,
  bodyOf,
  type CollisionPair,
  type CollisionSource,
  type Contact,
  type MoveResult,
  partsOf,
  type RayFilter,
  type RayResult,
  shapeOf,
  type SolidShape,
  Solids,
  surfaceOf,
} from '../systems/solids';
import type { System } from '../systems/System';
import {
  angleBetween,
  blend,
  matrixPose,
  type Piece,
  pieceArea,
  pieceKey,
  piecesInBody,
  type Pose,
  poseOf,
  round,
  samePose,
} from './bodyGeometry';
import { type Rapier, toMetres, toPixels } from './engine';
import { passesOneWay, reachOf } from './oneWay';

/** The engine always steps this long, whatever the frame took. */
export const PHYSICS_STEP = 1 / 60;
/** After a hitch the world catches up this many steps at most, and forgets the rest. */
const MAX_STEPS_PER_TICK = 8;

/**
 * One body in the engine. `rigid` is an object with a rigidbody child, carrying every collider below
 * it; `free` is a collider of an object without one, a body of its own that goes where the object
 * is put; `tilemap` is a placed map with a box per merged rectangle of its solid cells.
 */
interface Body {
  kind: 'rigid' | 'free' | 'tilemap';
  body: RigidBody;
  /** The engine's colliders – several for a polygon, one per convex piece – whose each is, and its shape. */
  colliders: Collider[];
  sources: Entity[];
  solids: SolidShape[];
  /** What the colliders were built from; they are built again when it changes (a scaled object). */
  shapeKey: string;
  settingsKey: string;
  /** Whether the engine may turn it – what `writeBack` hands on as the object's rotation. */
  turns: boolean;
  /** The mass it carries of its own because no collider gives it one (kg, 0 = none). */
  ownMass: number;
  /** Where the pose was last put, by us or by the object moving. */
  placed: Pose;
  /** A dynamic body's pose before and after the last step, for drawing in between. */
  previous: Pose;
  current: Pose;
}

/**
 * An engine collider: the entity it stands for, its world shape at the last sync and, for a one-way
 * one, the side it blocks from (#155).
 */
interface Part {
  entity: Entity;
  shape: ColliderShape;
  facing: OneWaySide | null;
  owner: Body;
}

/**
 * The played game's physics on Rapier (#146): rigidbodies fall, bounce and rest, and the collision
 * events come from the engine's contact pairs. Ticked first, like the collision system it stands in
 * for, so the behaviors see this frame's events.
 *
 * What has no rigidbody keeps behaving as it did before the engine: a collider is a body of its own
 * that goes wherever the object is put, and whether two such colliders touch is decided by the
 * editor's own overlap test – the engine only proposes the pairs. Touching without overlapping is
 * no collision, as it never was. Only where a dynamic body is involved does the engine's contact say it.
 */
export class PhysicsSystem implements System, CollisionSource {
  enters: CollisionPair[] = [];
  stays: CollisionPair[] = [];
  exits: CollisionPair[] = [];
  private engine: RapierWorld | null = null;
  private queue: EventQueue | null = null;
  private readonly bodies = new Map<Entity, Body>();
  private readonly parts = new Map<number, Part>();
  /** Collider handle pairs the engine reports in contact or intersecting, keyed `h1|h2`. */
  private readonly candidates = new Map<string, [number, number]>();
  private current = new Map<string, CollisionPair>();
  /** The engine colliders each current pair was found with, `a`'s first – where its contact is read. */
  private pairColliders = new Map<string, [number, number]>();
  /**
   * Pairs of a dynamic body and a one-way collider near each other, keyed `h1|h2`: whether the body
   * passes through (#155). Decided before each step, since the engine's hook must not touch the engine.
   */
  private passes = new Map<string, boolean>();
  private hooks: PhysicsHooks | null = null;
  private readonly solids = new Solids();
  private backlog = 0;
  /** The length of the frame being played – the time a move of the graph's is spread over. */
  private frameDt = PHYSICS_STEP;
  private readonly hinted = new Set<string>();
  private world: World | null = null;

  constructor(private readonly rapier: Rapier) {}

  start(world: World): void {
    const engine = new this.rapier.World(this.gravity(world));
    engine.timestep = PHYSICS_STEP;
    this.engine = engine;
    this.queue = new this.rapier.EventQueue(true);
    this.world = world;
    const { SolverFlags } = this.rapier;
    this.hooks = {
      filterContactPair: (h1, h2) =>
        this.passes.get(handlePairKey(h1, h2)) ? SolverFlags.EMPTY : SolverFlags.COMPUTE_IMPULSE,
      filterIntersectionPair: () => true,
    };
  }

  stop(): void {
    this.engine?.free();
    this.queue?.free();
    this.engine = null;
    this.world = null;
    this.queue = null;
    this.bodies.clear();
    this.parts.clear();
    this.candidates.clear();
    this.current = new Map();
    this.pairColliders = new Map();
    this.passes = new Map();
    this.hooks = null;
    this.enters = [];
    this.stays = [];
    this.exits = [];
    this.backlog = 0;
    this.frameDt = PHYSICS_STEP;
    this.hinted.clear();
  }

  update(world: World, dt: number): void {
    const engine = this.engine;
    if (!engine) return;
    this.solids.reset();
    this.frameDt = dt > 0 ? dt : PHYSICS_STEP;
    this.enters = [];
    this.exits = [];
    this.sync(world);
    engine.gravity = this.gravity(world);
    this.backlog += dt;
    let steps = 0;
    const entered = new Set<string>();
    while (this.backlog >= PHYSICS_STEP - 1e-9 && steps < MAX_STEPS_PER_TICK) {
      for (const body of this.bodies.values()) if (body.body.isDynamic()) body.previous = body.current;
      this.decideOneWay(world);
      engine.step(this.queue!, this.hooks ?? undefined);
      for (const body of this.bodies.values()) if (body.body.isDynamic()) body.current = poseOf(body.body);
      this.collect(world, entered);
      this.backlog -= PHYSICS_STEP;
      steps++;
    }
    this.backlog = steps === MAX_STEPS_PER_TICK ? 0 : Math.max(0, this.backlog);
    this.writeBack(this.backlog / PHYSICS_STEP);
    this.stays = [...this.current].filter(([key]) => !entered.has(key)).map(([, pair]) => pair);
  }

  /** Whether any collider of `a` is in contact with any collider of `b` as of the last step. */
  touching(world: World, a: Entity, b: Entity): boolean {
    for (const ca of partsOf(world, a))
      for (const cb of partsOf(world, b))
        if (this.current.has(`${ca.id}|${cb.id}`) || this.current.has(`${cb.id}|${ca.id}`)) return true;
    return false;
  }

  /**
   * `Move` with "Collide with solids": the object stops at what is in the way and slides along it,
   * as in the editor run, and a dynamic body that stops it gets a push (#147).
   */
  moveAndSlide(world: World, entity: Entity, dx: number, dy: number): MoveResult {
    return this.solids.moveAndSlide(world, entity, dx, dy, (blocked) => this.push(world, entity, blocked));
  }

  raycast(world: World, from: Vec2, direction: Vec2, length: number, filter: RayFilter): RayResult | null {
    return this.solids.raycast(world, from, direction, length, filter);
  }

  raycastAll(
    world: World,
    from: Vec2,
    direction: Vec2,
    length: number,
    filter: RayFilter,
    maxHits?: number,
  ): RayResult[] {
    return this.solids.raycastAll(world, from, direction, length, filter, maxHits);
  }

  /** How a current pair touches as of the last step: read from the engine's contact. */
  contactOf(pair: CollisionPair): Contact | null {
    const handles = this.pairColliders.get(`${pair.a.id}|${pair.b.id}`);
    if (!handles || !this.parts.has(handles[0]) || !this.parts.has(handles[1])) return null;
    return this.measure(this.engine!.getCollider(handles[0]), this.engine!.getCollider(handles[1]));
  }

  /** A dynamic body's velocity in world units per second; null for an object the engine does not move. */
  velocityOf(target: Entity): Vec2 | null {
    const body = this.dynamicBodyOf(target)?.body;
    if (!body) return null;
    const v = body.linvel();
    return { x: toPixels(v.x), y: toPixels(v.y) };
  }

  /** Sets a dynamic body's velocity (world units per second); false when the object has none. */
  setVelocity(target: Entity, velocity: Vec2): boolean {
    const body = this.dynamicBodyOf(target)?.body;
    body?.setLinvel({ x: toMetres(velocity.x), y: toMetres(velocity.y) }, true);
    return Boolean(body);
  }

  /** Degrees per second, counted the way the object's rotation is; null as for `velocityOf`. */
  angularVelocityOf(target: Entity): number | null {
    const body = this.dynamicBodyOf(target);
    if (!body) return null;
    return body.turns ? (this.turnSign(target) * body.body.angvel() * 180) / Math.PI : 0;
  }

  setAngularVelocity(target: Entity, degrees: number): boolean {
    const body = this.dynamicBodyOf(target);
    // With fixed rotation the engine would keep the speed and never turn: nothing to set.
    if (body?.turns) body.body.setAngvel((this.turnSign(target) * degrees * Math.PI) / 180, true);
    return Boolean(body);
  }

  /** A kick (world units × kg per second): the velocity changes by impulse ÷ mass, at once. */
  applyImpulse(target: Entity, impulse: Vec2): boolean {
    const body = this.dynamicBodyOf(target)?.body;
    body?.applyImpulse({ x: toMetres(impulse.x), y: toMetres(impulse.y) }, true);
    return Boolean(body);
  }

  /** The scene's gravity for the rest of this run, in world units per second squared. */
  setGravity(world: World, gravity: Vec2): void {
    world.setSceneProp('gravityX', gravity.x);
    world.setSceneProp('gravityY', gravity.y);
    if (this.engine) this.engine.gravity = this.gravity(world);
  }

  /**
   * Says once per run and object what the physics did not do, in the log and the console – the
   * one place a quiet no-op gets noticed.
   */
  hint(world: World, target: Entity, text: string): void {
    const key = `${target.id} ${text}`;
    if (this.hinted.has(key)) return;
    this.hinted.add(key);
    const line = `Physics: "${target.name}" ${text}`;
    world.log.push(line);
    console.warn(`[physics] ${line}`);
  }

  /** The engine body of the object a graph names – the object with the rigidbody, or the rigidbody. */
  private dynamicBodyOf(target: Entity): Body | null {
    const owner = target.type === 'rigidbody' ? target.parent : target;
    if (!owner) return null;
    // On start, and an object spawned this frame, come before the engine has its body: it gets it now.
    const world = this.world;
    if (world && !this.bodies.has(owner))
      if (world.childrenOf(owner).some((e) => e.type === 'rigidbody' && isHandleEnabled(e))) this.sync(world);
    const body = this.bodies.get(owner);
    return body?.kind === 'rigid' && body.body.isDynamic() && body.body.isEnabled() ? body : null;
  }

  /** Under a mirrored parent the engine turns against the rotation property. */
  private turnSign(target: Entity): number {
    const owner = target.type === 'rigidbody' ? target.parent : target;
    return owner?.parent && determinant(worldMatrixOf(owner.parent)) < 0 ? -1 : 1;
  }

  /**
   * A mover that runs into a dynamic body pushes it into the contact, as one body meeting another
   * without bounce: the wanted speed is the move spread over the frame, and a light mover barely
   * shifts a heavy crate. Both keep moving – the mover as the graph says, the crate as the engine does.
   */
  private push(world: World, mover: Entity, { by, along, distance }: Blocked): void {
    const part = [...this.parts.values()].find((p) => p.entity === by);
    const body = part?.owner.body;
    if (!body || part.owner.kind !== 'rigid' || !body.isDynamic() || !body.isEnabled()) return;
    const v = body.linvel();
    const closing = toMetres(distance / this.frameDt) - (v.x * along.x + v.y * along.y);
    const m = this.massOf(world, mover);
    const M = body.mass();
    if (closing <= 0 || m <= 0 || M <= 0) return;
    const impulse = ((m * M) / (m + M)) * closing;
    body.applyImpulse({ x: impulse * along.x, y: impulse * along.y }, true);
  }

  /**
   * What a moved object weighs against what it pushes: a dynamic body what the engine says, else
   * the mass of its rigidbody, else what its colliders weigh by their density.
   */
  private massOf(world: World, entity: Entity): number {
    const own = this.bodies.get(entity);
    if (own?.kind === 'rigid' && own.body.isDynamic()) return own.body.mass();
    const rigidbody = world.childrenOf(entity).find((e) => e.type === 'rigidbody' && isHandleEnabled(e));
    const mass = rigidbody ? rigidbodySettings(rigidbody.props).mass : 0;
    if (mass > 0) return mass;
    return blockingCollidersOf(world, entity).reduce(
      (sum, c) => sum + colliderMaterial(c.props).density * shapeArea(shapeOf(c)) * toMetres(1) ** 2,
      0,
    );
  }

  private gravity(world: World): Vec2 {
    const g = sceneGravity(world.sceneProps);
    return { x: toMetres(g.x), y: toMetres(g.y) };
  }

  /** Makes the engine's bodies match the entities: new ones in, gone ones out, moved ones moved. */
  private sync(world: World): void {
    const wanted = this.wantedBodies(world);
    for (const [key, body] of this.bodies) {
      const want = wanted.get(key);
      if (!want || want.kind !== body.kind) this.remove(key, body);
    }
    for (const [key, want] of wanted) {
      let body = this.bodies.get(key);
      if (!body) {
        body = this.create(want, key);
        this.bodies.set(key, body);
      }
      this.place(body, want, key, world);
      this.build(body, want, key, world);
    }
  }

  /**
   * Every body the entities ask for, keyed by the entity that stands for it. A collider belongs to
   * the nearest object above it with a rigidbody switched on; without one it is a body of its own.
   */
  private wantedBodies(world: World): Map<Entity, Wanted> {
    const owners = new Map<Entity, Entity>();
    for (const e of world.entities)
      if (
        e.type === 'rigidbody' &&
        e.parent &&
        e.parent.type !== 'tilemap' &&
        !owners.has(e.parent) &&
        isHandleEnabled(e)
      )
        owners.set(e.parent, e);
    const wanted = new Map<Entity, Wanted>();
    for (const [owner, rigidbody] of owners)
      wanted.set(owner, { kind: 'rigid', settings: rigidbodySettings(rigidbody.props), colliders: [] });
    for (const e of world.entities) {
      if (e.type === 'tilemap') wanted.set(e, { kind: 'tilemap', settings: null, colliders: [] });
      if (e.type !== 'collider') continue;
      const owner = [...parentChain(e, (x) => x.parent)].slice(1).find((x) => owners.has(x));
      if (owner) wanted.get(owner)!.colliders.push(e);
      else wanted.set(e, { kind: 'free', settings: null, colliders: [e] });
    }
    return wanted;
  }

  private create(want: Wanted, key: Entity): Body {
    const R = this.rapier;
    const pose = this.poseWanted(want, key);
    const desc =
      want.kind === 'tilemap'
        ? R.RigidBodyDesc.fixed()
        : want.kind === 'free'
          ? R.RigidBodyDesc.kinematicPositionBased()
          : want.settings!.type === 'dynamic'
            ? R.RigidBodyDesc.dynamic()
            : want.settings!.type === 'static'
              ? R.RigidBodyDesc.fixed()
              : R.RigidBodyDesc.kinematicPositionBased();
    desc.setTranslation(toMetres(pose.x), toMetres(pose.y)).setRotation(pose.angle);
    return {
      kind: want.kind,
      body: this.engine!.createRigidBody(desc),
      colliders: [],
      sources: [],
      solids: [],
      shapeKey: '',
      settingsKey: '',
      turns: false,
      ownMass: 0,
      placed: pose,
      previous: pose,
      current: pose,
    };
  }

  private remove(key: Entity, body: Body): void {
    for (const collider of body.colliders) this.parts.delete(collider.handle);
    this.engine!.removeRigidBody(body.body);
    this.bodies.delete(key);
  }

  /** Where the entities say the body is: the object's origin, a free collider's shape, a map at zero. */
  private poseWanted(want: Wanted, key: Entity): Pose {
    if (want.kind === 'tilemap') return { x: 0, y: 0, angle: 0 };
    if (want.kind === 'free') {
      const shape = shapeOf(key);
      return { x: shape.x, y: shape.y, angle: shape.kind === 'circle' ? 0 : shape.angle };
    }
    return matrixPose(worldMatrixOf(key));
  }

  /**
   * Puts the body where its object is. A dynamic body is only moved when something else moved the
   * object since we last wrote it – that is a teleport, and the body keeps its velocity (#146, 3).
   */
  private place(body: Body, want: Wanted, key: Entity, world: World): void {
    const settings = want.settings;
    const settingsKey = settings ? JSON.stringify(settings) + hasTransformProps(key.type) : '';
    if (settings && settingsKey !== body.settingsKey) {
      body.settingsKey = settingsKey;
      this.applySettings(body, settings, key);
    }
    const on = isHandleEnabled(key);
    if (body.body.isEnabled() !== on) body.body.setEnabled(on);
    const pose = this.poseWanted(want, key);
    if (samePose(pose, body.placed)) return;
    body.placed = pose;
    const t = { x: toMetres(pose.x), y: toMetres(pose.y) };
    if (body.body.isKinematic() && want.kind === 'rigid') {
      body.body.setNextKinematicTranslation(t);
      body.body.setNextKinematicRotation(pose.angle);
      return;
    }
    if (body.body.isDynamic())
      this.hint(
        world,
        key,
        'has a dynamic rigidbody and was moved directly; it keeps its velocity. ' +
          'Apply force, Apply impulse and Set velocity move it with the physics.',
      );
    body.body.setTranslation(t, true);
    body.body.setRotation(pose.angle, true);
    body.previous = pose;
    body.current = pose;
  }

  private applySettings(target: Body, settings: RigidbodySettings, owner: Entity): void {
    const body = target.body;
    body.setBodyType(this.bodyType(settings.type), true);
    body.setGravityScale(settings.gravityScale, true);
    body.setLinearDamping(settings.linearDamping);
    body.setAngularDamping(settings.angularDamping);
    // An object without a rotation of its own could not show the body turning, so it does not turn.
    target.turns = !settings.fixedRotation && hasTransformProps(owner.type);
    body.lockRotations(!target.turns, true);
    body.enableCcd(settings.ccd);
  }

  private bodyType(type: BodyType) {
    const T = this.rapier.RigidBodyType;
    return type === 'dynamic' ? T.Dynamic : type === 'static' ? T.Fixed : T.KinematicPositionBased;
  }

  /** The body's colliders, built again whenever what they were built from changed. */
  private build(body: Body, want: Wanted, key: Entity, world: World): void {
    const shapes = this.shapesWanted(want, key, world);
    const origin = body.placed;
    const local = shapes.map((solid) => ({ ...solid, pieces: piecesInBody(origin, solid.shape) }));
    const shapeKey =
      JSON.stringify(
        local.map(({ entity, pieces, facing, surface }) => [
          entity.id,
          pieces.map(pieceKey),
          facing && [round(facing.x), round(facing.y), facing.cone],
          surface ?? 0,
          entity.type === 'collider' ? [isTrigger(entity.props), colliderMaterial(entity.props)] : 0,
          // The layers sit on the engine collider, so changing one has to rebuild it (#152).
          interactionGroups(collisionFilterOf(entity.props)),
        ]),
      ) + JSON.stringify(want.settings?.mass ?? 0);
    if (shapeKey !== body.shapeKey) {
      body.shapeKey = shapeKey;
      for (const collider of body.colliders) {
        this.parts.delete(collider.handle);
        this.engine!.removeCollider(collider, true);
      }
      body.colliders = [];
      body.sources = [];
      body.solids = [];
      const mass = want.settings?.mass ?? 0;
      const area = local.reduce(
        (sum, { entity, shape }) => sum + (isSolid(entity) ? shapeArea(shape) : 0),
        0,
      );
      for (const { entity, shape, facing, surface, pieces } of local)
        for (const piece of pieces) {
          const share = mass > 0 && area > 0 ? (mass * pieceArea(piece)) / area : 0;
          const desc = this.colliderDesc(entity, piece, share, facing !== null, surface);
          if (!desc) continue;
          const collider = this.engine!.createCollider(desc, body.body);
          body.colliders.push(collider);
          body.sources.push(entity);
          body.solids.push({ shape, facing });
          this.parts.set(collider.handle, { entity, shape, facing, owner: body });
        }
    }
    // Shapes are refreshed every tick even when the colliders stay: the overlap test reads them. A
    // tilemap's many shapes all stand for the one map, so its colliders keep the shape they were built from.
    const solidOfEntity = new Map(local.map((solid) => [solid.entity, solid]));
    body.colliders.forEach((collider, i) => {
      const entity = body.sources[i]!;
      const { shape, facing } = body.kind === 'tilemap' ? body.solids[i]! : solidOfEntity.get(entity)!;
      this.parts.set(collider.handle, { entity, shape, facing, owner: body });
      const on = isHandleEnabled(entity);
      if (collider.isEnabled() === on) return;
      collider.setEnabled(on);
      // A resting body sleeps, and losing what held it up does not wake it by itself.
      body.body.wakeUp();
    });
    if (body.kind !== 'rigid') return;
    // Without a collider the engine would weigh it nothing, and a thing of no weight never falls.
    const weighed = body.sources.some((entity) => isSolid(entity) && isHandleEnabled(entity));
    const own = weighed ? 0 : want.settings?.mass || 1;
    if (own !== body.ownMass) {
      body.ownMass = own;
      body.body.setAdditionalMass(own, true);
    }
  }

  private shapesWanted(want: Wanted, key: Entity, world: World): (SolidShape & { entity: Entity })[] {
    if (want.kind === 'tilemap')
      return this.solids.solidShapesOf(world, key).map((solid) => ({ ...solid, entity: key }));
    return want.colliders.flatMap((entity) =>
      this.solids.solidShapesOf(world, entity).map((solid) => ({ ...solid, entity })),
    );
  }

  /** The engine collider of one piece; null for a piece of no size, which the engine would refuse. */
  private colliderDesc(
    entity: Entity,
    piece: Piece,
    mass: number,
    oneWay: boolean,
    surface?: TileMaterial,
  ): ColliderDesc | null {
    const R = this.rapier;
    if (pieceArea(piece) <= 0) return null;
    let desc: ColliderDesc | null;
    switch (piece.kind) {
      case 'ball':
        desc = R.ColliderDesc.ball(toMetres(piece.r));
        break;
      case 'cuboid':
        desc = R.ColliderDesc.cuboid(toMetres(piece.hw), toMetres(piece.hh));
        break;
      case 'capsule':
        desc = R.ColliderDesc.capsule(toMetres(piece.half), toMetres(piece.r));
        break;
      case 'convex':
        desc = R.ColliderDesc.convexHull(
          new Float32Array(piece.points.flatMap((p) => [toMetres(p.x), toMetres(p.y)])),
        );
        break;
    }
    if (!desc) return null;
    if (piece.kind !== 'convex')
      desc.setTranslation(toMetres(piece.x), toMetres(piece.y)).setRotation(piece.angle);
    // A tile's cell brings its tile's surface (#193); a density it does not need, a map never moves.
    const material = colliderMaterial(entity.type === 'collider' ? entity.props : {});
    const { friction, bounciness } = surfaceOf(entity, surface);
    desc.setFriction(friction).setRestitution(bounciness);
    // The livelier side wins, as in Box2D: a ball that should bounce does so on plain ground too.
    desc.setRestitutionCombineRule(R.CoefficientCombineRule.Max);
    if (!isSolid(entity)) desc.setSensor(true).setDensity(0);
    else if (mass > 0) desc.setMass(mass);
    else desc.setDensity(material.density);
    desc.setActiveEvents(R.ActiveEvents.COLLISION_EVENTS);
    desc.setActiveCollisionTypes(R.ActiveCollisionTypes.ALL);
    // The layers (#152). Rapier applies one group to detecting and to blocking alike, which is the
    // single setting the issue asked for: what does not collide reports nothing either.
    const groups = interactionGroups(collisionFilterOf(entity.props));
    desc.setCollisionGroups(groups).setSolverGroups(groups);
    if (oneWay && isSolid(entity)) desc.setActiveHooks(R.ActiveHooks.FILTER_CONTACT_PAIRS);
    return desc;
  }

  /**
   * Whether each dynamic body near a one-way collider passes through it in the coming step (#155),
   * by `passesOneWay`. One that is to pass is woken: a resting body sleeps, and a new answer alone
   * would not move it.
   */
  private decideOneWay(world: World): void {
    const platforms: [number, Part][] = [];
    const movers: [number, Part][] = [];
    for (const [handle, part] of this.parts) {
      if (!isHandleEnabled(part.entity) || !isSolid(part.entity)) continue;
      if (part.facing) platforms.push([handle, part]);
      else if (part.owner.kind === 'rigid' && part.owner.body.isDynamic()) movers.push([handle, part]);
    }
    const decided = new Map<string, boolean>();
    for (const [hp, platform] of platforms) {
      const surface = this.shapeNow(platform);
      const facing = this.facingNow(platform);
      const vp = platform.owner.body.linvel();
      for (const [hm, mover] of movers) {
        if (mover.owner === platform.owner) continue;
        const shape = this.shapeNow(mover);
        const vm = mover.owner.body.linvel();
        const relative = { x: toPixels(vm.x - vp.x), y: toPixels(vm.y - vp.y) };
        const margin = Math.hypot(relative.x, relative.y) * PHYSICS_STEP * 2 + 16;
        if (Math.hypot(shape.x - surface.x, shape.y - surface.y) > reachOf(shape) + reachOf(surface) + margin)
          continue;
        const key = handlePairKey(hp, hm);
        const contact = contactBetween(shape, surface, relative);
        const landed = this.passes.get(key) === false;
        const passes = passesOneWay(contact, facing, relative, landed, world.ignoresOneWay(mover.entity));
        if (passes && mover.owner.body.isSleeping()) mover.owner.body.wakeUp();
        decided.set(key, passes);
      }
    }
    this.passes = decided;
  }

  /** A part's shape where the engine has its body now: a dynamic body has moved on since the sync. */
  private shapeNow(part: Part): ColliderShape {
    const body = part.owner;
    if (!body.body.isDynamic()) return part.shape;
    const from = body.placed;
    const to = poseOf(body.body);
    const turn = to.angle - from.angle;
    const cos = Math.cos(turn);
    const sin = Math.sin(turn);
    const move = (p: Vec2): Vec2 => {
      const dx = p.x - from.x;
      const dy = p.y - from.y;
      return { x: to.x + dx * cos - dy * sin, y: to.y + dx * sin + dy * cos };
    };
    return movedShape(part.shape, move, turn);
  }

  private facingNow(part: Part): OneWaySide {
    const facing = part.facing!;
    if (!part.owner.body.isDynamic()) return facing;
    const turn = part.owner.body.rotation() - part.owner.placed.angle;
    const cos = Math.cos(turn);
    const sin = Math.sin(turn);
    return { x: facing.x * cos - facing.y * sin, y: facing.x * sin + facing.y * cos, cone: facing.cone };
  }

  /**
   * The pairs in contact after a step, compared with those before it. The engine proposes the
   * pairs; where no dynamic body takes part, the overlap test decides as it always did.
   */
  private collect(world: World, entered: Set<string>): void {
    this.queue!.drainCollisionEvents((h1, h2, started) => {
      const key = h1 < h2 ? `${h1}|${h2}` : `${h2}|${h1}`;
      if (started) this.candidates.set(key, [h1, h2]);
      else this.candidates.delete(key);
    });
    const order = new Map(world.entities.map((e, i) => [e, i]));
    const now = new Map<string, CollisionPair>();
    const first = new Map<string, [Collider, Collider]>();
    for (const [key, [h1, h2]] of this.candidates) {
      let p = this.parts.get(h1);
      let q = this.parts.get(h2);
      if (!p || !q) {
        this.candidates.delete(key);
        continue;
      }
      const a0 = p.entity;
      const b0 = q.entity;
      if (!order.has(a0) || !order.has(b0) || !isHandleEnabled(a0) || !isHandleEnabled(b0)) continue;
      if (bodyOf(a0) === bodyOf(b0) || (a0.type === 'tilemap' && b0.type === 'tilemap')) continue;
      const engineSays = p.owner.body.isDynamic() || q.owner.body.isDynamic();
      if (!engineSays && !shapesOverlap(p.shape, q.shape)) continue;
      let c1 = h1;
      let c2 = h2;
      if (order.get(a0)! > order.get(b0)!) {
        [p, q] = [q, p];
        [c1, c2] = [c2, c1];
      }
      const pairKey = `${p.entity.id}|${q.entity.id}`;
      if (now.has(pairKey)) continue;
      now.set(pairKey, { a: p.entity, b: q.entity });
      first.set(pairKey, [this.engine!.getCollider(c1), this.engine!.getCollider(c2)]);
    }
    this.pairColliders = new Map();
    for (const [key, pair] of now) {
      const [c1, c2] = first.get(key)!;
      this.pairColliders.set(key, [c1.handle, c2.handle]);
      if (this.current.has(key)) {
        now.set(key, this.current.get(key)!);
        continue;
      }
      this.enters.push(Object.assign(pair, this.measure(c1, c2)));
      entered.add(key);
    }
    for (const [key, pair] of this.current) if (!now.has(key)) this.exits.push(pair);
    this.current = now;
  }

  /**
   * How the pair touches: the normal from the second collider towards the first, the impulse of the
   * last step and the middle of the contact points (world units; zero without a contact).
   */
  private measure(c1: Collider, c2: Collider): Contact {
    let normal = { x: 0, y: 0 };
    let impulse = 0;
    let sum = { x: 0, y: 0 };
    let points = 0;
    this.engine!.contactPair(c1, c2, (manifold, flipped) => {
      if (manifold.numContacts() === 0) return;
      const n = manifold.normal();
      // The manifold's normal runs from its first collider to its second; ours runs back to `a`.
      const sign = flipped ? 1 : -1;
      if (normal.x === 0 && normal.y === 0) normal = { x: sign * n.x, y: sign * n.y };
      // Each of its points has a side on either collider, in that collider's space: the contact
      // point is the middle of the two, which is also where two bodies that sank in meet.
      const [first, second] = flipped ? [c2, c1] : [c1, c2];
      const toWorld = (collider: Collider, p: { x: number; y: number }) => {
        const at = collider.translation();
        const cos = Math.cos(collider.rotation());
        const sin = Math.sin(collider.rotation());
        return { x: at.x + p.x * cos - p.y * sin, y: at.y + p.x * sin + p.y * cos };
      };
      for (let i = 0; i < manifold.numContacts(); i++) {
        impulse += manifold.contactImpulse(i);
        const p1 = manifold.localContactPoint1(i);
        const p2 = manifold.localContactPoint2(i);
        if (!p1 || !p2) continue;
        const a = toWorld(first, p1);
        const b = toWorld(second, p2);
        sum = { x: sum.x + (a.x + b.x) / 2, y: sum.y + (a.y + b.y) / 2 };
        points++;
      }
    });
    const point = points > 0 ? { x: toPixels(sum.x / points), y: toPixels(sum.y / points) } : { x: 0, y: 0 };
    return { normal, impulse: toPixels(impulse), point };
  }

  /**
   * Hands the dynamic bodies' poses to their objects, a parent before its children, drawn `alpha`
   * of the way from the step before to the last one so the picture moves evenly between steps.
   */
  private writeBack(alpha: number): void {
    const dynamic = [...this.bodies].filter(([, body]) => body.kind === 'rigid' && body.body.isDynamic());
    dynamic.sort(([a], [b]) => depthOf(a) - depthOf(b));
    for (const [owner, body] of dynamic) {
      const pose = blend(body.previous, body.current, alpha);
      const parent = owner.parent ? worldMatrixOf(owner.parent) : IDENTITY;
      const local = apply(invert(parent), pose);
      owner.x = local.x;
      owner.y = local.y;
      if (body.turns) {
        const turned = angleBetween(matrixPose(worldMatrixOf(owner)).angle, pose.angle);
        const sign = determinant(parent) < 0 ? -1 : 1;
        owner.props.rotation = Number(owner.props.rotation ?? 0) + (sign * turned * 180) / Math.PI;
      }
      body.placed = matrixPose(worldMatrixOf(owner));
    }
  }
}

interface Wanted {
  kind: Body['kind'];
  settings: RigidbodySettings | null;
  colliders: Entity[];
}

function handlePairKey(h1: number, h2: number): string {
  return h1 < h2 ? `${h1}|${h2}` : `${h2}|${h1}`;
}

/** A tilemap's cells always block; a collider unless it is a trigger. */
function isSolid(entity: Entity): boolean {
  return entity.type !== 'collider' || !isTrigger(entity.props);
}

function depthOf(entity: Entity): number {
  return [...parentChain(entity, (e) => e.parent)].length;
}