Nexus2D

High-performance 2D rigid body physics engine for games and simulations.

Zero dependencies. Pure JavaScript ES Modules. Works in browsers and Node.js.

Features

• Rigid body dynamics — Dynamic, static, and kinematic bodies with mass, inertia, forces, impulses, and torque
• Shape primitives — Circle, convex polygon, capsule, and edge shapes with automatic mass computation
• Collision detection — SAT (polygon-polygon), analytical (circle-circle, circle-polygon), GJK+EPA (generic convex), capsule tests
• Sequential impulse solver — Normal + tangent (Coulomb friction) impulses, Baumgarte position correction, warm starting
• Dynamic BVH broadphase — O(log n) self-balancing bounding volume hierarchy with fat AABBs and velocity prediction
• Joint constraints — Distance, revolute (pin), prismatic (piston), weld, and spring joints with motors and limits
• Force fields — Gravity point, wind, vortex, explosion, and buoyancy fields
• Island-based sleeping — Automatic body sleeping via contact-graph islands
• Raycasting & queries — Ray, AABB, circle, and point queries with layer/mask filtering
• Sub-stepping — Fixed timestep with accumulator for deterministic simulation
• Debug renderer — Canvas 2D renderer with contacts, normals, velocities, joints, AABBs, trails, and stats HUD
• Material system — Preset materials (steel, rubber, wood, ice, bouncy, etc.) with density, friction, restitution

Install

npm install nexus-physics

Quick Start

import { World, Body, CircleShape, PolygonShape, Vec2 } from 'nexus-physics';

// Create world with gravity
const world = new World({ gravity: new Vec2(0, 980) });

// Add a dynamic circle
const ball = new Body(new CircleShape(20), 400, 100);
world.addBody(ball);

// Add a static floor
const floor = new Body(PolygonShape.box(400, 20), 400, 550, { type: 'static' });
world.addBody(floor);

// Step the simulation
function loop() {
  world.step(1 / 60);
  requestAnimationFrame(loop);
}
loop();

Shapes

import { CircleShape, PolygonShape, CapsuleShape } from 'nexus-physics';

// Circle (radius)
const circle = new CircleShape(25);

// Box (half-width, half-height)
const box = PolygonShape.box(50, 30);

// Regular polygon (sides, radius)
const hexagon = PolygonShape.regularPolygon(6, 40);

// Custom convex polygon (auto-hulled)
const triangle = new PolygonShape([
  new Vec2(0, -40), new Vec2(30, 30), new Vec2(-30, 30)
]);

// Capsule (half-height, radius)
const capsule = new CapsuleShape(30, 15);

Bodies

import { Body, BodyType, BodyFlags, Materials } from 'nexus-physics';

const body = new Body(shape, x, y, {
  type: BodyType.DYNAMIC,      // 'dynamic' | 'static' | 'kinematic'
  material: Materials.RUBBER,  // density, friction, restitution
  angle: Math.PI / 4,
  velX: 100, velY: 0,
  flags: BodyFlags.FIXED_ROTATION | BodyFlags.NO_GRAVITY,
  gravityScale: 0.5,
  layer: 0x0001, mask: 0xFFFF,
});

body.applyForce(new Vec2(500, 0));
body.applyImpulse(new Vec2(0, -200), body.pos);
body.applyTorque(50);

Joints

import { DistanceJoint, RevoluteJoint, SpringJoint, Vec2 } from 'nexus-physics';

// Pin joint
const pin = new RevoluteJoint(bodyA, bodyB, anchorWorldPos, {
  enableMotor: true,
  motorSpeed: 2.0,
  maxMotorTorque: 500,
});
world.addJoint(pin);

// Spring
const spring = new SpringJoint(bodyA, bodyB,
  new Vec2(0, 0), new Vec2(0, 0), // local anchors
  { restLength: 100, stiffness: 500, damping: 20 }
);
world.addJoint(spring);

Force Fields

import { GravityPoint, WindField, BuoyancyField } from 'nexus-physics';

world.addField(new GravityPoint(400, 300, 50000, 300));
world.addField(new WindField(1, 0, 200, 0.3));
world.addField(new BuoyancyField(400, 1.0, 0.5, 0.5));

Events

world.on('collisionStart', (manifold) => {
  console.log('Hit!', manifold.bodyA.id, manifold.bodyB.id);
});

world.on('collisionEnd', (manifold) => {
  console.log('Separated!', manifold.bodyA.id, manifold.bodyB.id);
});

Raycasting & Queries

const hit = world.raycast(origin, direction, maxDistance, {
  filter: (body) => body.type !== 'static',
  layer: 0x0001,
});
if (hit) console.log(hit.body, hit.point, hit.normal, hit.t);

const bodies = world.queryCircle(center, radius);
const bodies = world.queryAABB(aabb);
const bodies = world.queryPoint(point);

Debug Renderer

import { DebugRenderer } from 'nexus-physics';

const renderer = new DebugRenderer(canvas);
renderer.flags.aabbs = true;
renderer.flags.grid = true;

function draw() {
  renderer.render(world);
  requestAnimationFrame(draw);
}

World Configuration

const world = new World({
  gravity: new Vec2(0, 980),
  subSteps: 4,
  velocityIter: 10,
  positionIter: 4,
  warmStarting: true,
  sleepEnabled: true,
  sleepTime: 0.5,
  linearDamping: 0.003,
  angularDamping: 0.003,
});

License

MIT