@absolutejs/rapier3d 0.0.0-stage → 0.2.0

package/LICENSE

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package/README.md

@@ -1,3 +1,86 @@
-# Temporary Holding Version
+# AbsoluteJS Rapier 3D
 
-This version is a temporary placeholder for this package. An operational version to replace this has been submitted for review and is awaiting a staged release.
+A focused distribution of Rapier 0.21.0 / engine 0.36.0 with an additive
+`World.solverContactPair` query. The engine's original geometric manifolds and its
+clustered solver manifolds are distinct. The upstream JavaScript contact query
+only exposes the former, which can have no solver-contact entries even when the
+solver is resolving contact. This package exposes the latter separately.
+
+```ts
+import RAPIER from '@absolutejs/rapier3d';
+await RAPIER.init();
+world.solverContactPair(firstCollider, secondCollider, (manifold, flipped) => {
+  for (let i = 0; i < manifold.numSolverContacts(); i++) {
+    const point = manifold.solverContactPoint(i);
+    const cachedDistance = manifold.solverContactDist(i);
+    const separation = manifold.solverContactSeparation(i);
+    const anchor1 = manifold.solverContactPoint1(i);
+    const anchor2 = manifold.solverContactPoint2(i);
+    // Copy values here. The callback view expires when the callback returns.
+  }
+});
+```
+
+The callback receives a restricted solver view: normal, count, point, distance,
+friction, restitution, and tangent velocity. It does not promise original subshape
+identifiers or geometric surface normals. The `flipped` convention matches
+`contactPair`. Do not step, free, or mutate the world inside either callback.
+Nested read-only solver queries are supported; callback exceptions release query
+wrappers before propagating. Solver distances are the engine's cached contact
+update distances, not a continuous or post-step exact penetration guarantee.
+
+`contactPair` retains its existing geometric behavior. No collision, integration,
+clustering, mass, or solver parameters are changed. This is a diagnostic API
+improvement, not a fix for the physical overlap reproduced in the game. Runtime
+motion must still pass independent geometric and energy checks.
+
+The ESM package includes WASM initialization and requires no separate asset URL.
+Concurrent `init()` calls share initialization. This first release targets 3D f32
+web/Node/Bun; it does not claim a 2D, f64, CommonJS or SIMD distribution.
+
+## Build and provenance
+
+Source base: dimforge/rapier commit
+`b716d375efc0201003f0cd9ef7168eee0b62c177`. Upstream Apache-2.0 licensing is retained.
+All engine source remains upstream; changes are confined to binding queries and
+this package's build/test tooling.
+
+Use Bun 1.4.4+absolute.1, Rust 1.94.0 with `wasm32-unknown-unknown`, and Python 3.12.
+Run `bun install --frozen-lockfile`, then `bash absolutejs/scripts/build-native.sh`.
+Cargo's exact lockfile is versioned, compilation is limited to two jobs, and the
+wasm-bindgen 0.2.129 CLI archive is checksum verified before extraction. Caches and
+generated build output are reproducible; modified source and selected test
+receipts are committed. `dist/provenance.json` records the resulting WASM hash.
+
+Run `bun test absolutejs/tests` after building. Tests compare the official pinned
+release's motion against this build, exercise actual clustered contacts, nested
+queries and exception cleanup. Browser-worker validation is separate from native
+GPU performance testing; no GPU is required by the engine.
+
+This is a maintained AbsoluteJS distribution, not an official Dimforge release.
+
+## Live anchors and explicit clustering control (0.2)
+
+`solverContactPoint1/2` return the native solver anchors transformed by current body
+poses. `solverContactSeparation` projects their difference onto the stored world
+solver normal. Negative means overlapping anchors; invalid indices return null.
+Anchor values include contact skin and hook offsets, so they are not necessarily
+points on the visible material surface. The normal is from the contact update;
+this is not a new narrow-phase query or a continuous material penetration bound.
+The old cached `solverContactDist` remains explicitly separate.
+
+`world.integrationParameters.contactClustering` exposes the existing engine switch.
+It defaults to true, exactly as upstream. Set it only between steps; disabling it
+may increase solver workload and is not a general penetration fix. Snapshot restore
+preserves the setting. The game is not instructed to turn it off by this release.
+
+The independent every-step cube/cavity audit demonstrates the distinction: about
+0.459mm current penetration is visible in live anchors when the cached distance is
+zero. Disabling clustering retains about 0.469mm peak penetration in that case.
+Neither extra telemetry nor changing clustering is presented as a physics cure.
+
+`minCcdDt` exposes the engine's minimum CCD substep duration in seconds. Its
+upstream default stays `1/60/100`, even when the outer timestep is changed.
+The setter rejects negative, non-finite and f32-overflowing values. Smaller values
+can introduce instability; changing it is an explicit experiment, not an automatic
+quality preset. Both controls are retained through native snapshot serialization.

package/dist/provenance.json

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+{
+  "upstream": "b716d375efc0201003f0cd9ef7168eee0b62c177",
+  "engine": "0.36.0",
+  "bindings": "0.21.0",
+  "bindgen": "0.2.129",
+  "wasmSha256": "91d68ed4f46fa1febbaf82abb7e8018150a3ad982560381df700e009997e6721",
+  "wasmBytes": 3297510,
+  "solverChanges": false,
+  "addition": "Live solver anchors, clustered query, and explicit clustering/CCD minimum controls"
+}