# UNDF: UNDF-2026-000000961
--- a/cocos/physics/CCPhysicsWorld.h
+++ b/cocos/physics/CCPhysicsWorld.h
@@ -33,6 +33,7 @@
 #include <list>
 #include <vector>
+#include <unordered_set>

 struct cpSpace;

@@ -230,6 +231,7 @@
     std::vector<PhysicsJoint*>  _joints;
+    std::unordered_set<PhysicsJoint*> _jointsSet; // O(1) membership mirror of _joints
     std::vector<PhysicsJoint*>  _delayAddJoints;
--- a/cocos/physics/CCPhysicsWorld.cpp
+++ b/cocos/physics/CCPhysicsWorld.cpp
@@ -310,7 +310,7 @@ bool PhysicsWorld::collisionBeginCallback(PhysicsContact& contact)

     // check the joint is collision enable or not
     for (PhysicsJoint* joint : jointsA)
     {
-        if (std::find(_joints.begin(), _joints.end(), joint) == _joints.end())
+        if (_jointsSet.find(joint) == _jointsSet.end())
         {
             continue;
         }
@@ -688,6 +688,7 @@ void PhysicsWorld::updateJoints()
         if (joint->initJoint())
         {
             _joints.push_back(joint);
+            _jointsSet.insert(joint);
         }
         else
         {
 // Also update doRemoveJoint to maintain _jointsSet:
 // When removing from _joints, also call _jointsSet.erase(joint).