@absolutejs/rapier3d 0.1.0 → 0.2.0

package/dist/types/dynamics/integration_parameters.d.ts

@@ -7,6 +7,14 @@ export declare class IntegrationParameters {
      * Free the WASM memory used by these integration parameters.
      */
     free(): void;
+    /** Merge compatible contact manifolds into solver clusters. Upstream default: true. */
+    get contactClustering(): boolean;
+    /** Change between simulation steps; false may increase solver workload. */
+    set contactClustering(value: boolean);
+    /** Minimum CCD substep duration in seconds; upstream default is 1/60/100. */
+    get minCcdDt(): number;
+    /** Change between steps. Very small values may introduce numerical instability. */
+    set minCcdDt(value: number);
     /**
      * The timestep length (default: `1.0 / 60.0`)
      */

package/dist/types/geometry/narrow_phase.d.ts

@@ -116,6 +116,17 @@ export declare class TempContactManifold {
      * the function returns this object instead of creating a new one.
      */
     solverContactPoint(i: number, target?: Vector): Vector | null;
+    /** Current world-space solver anchor on side 1; includes skin/hook offsets. */
+    solverContactPoint1(i: number, target?: Vector): Vector | null;
+    /** Current world-space solver anchor on side 2; includes skin/hook offsets. */
+    solverContactPoint2(i: number, target?: Vector): Vector | null;
+    /**
+     * Current anchor separation along the stored solver normal (negative means overlap).
+     * This is not a fresh collision query or a bound on unsampled material surfaces.
+     * Returns null for an invalid index. Unlike solverContactDist, uses current poses.
+     */
+    solverContactSeparation(i: number): number | null;
+    /** Cached distance at the last contact update; does not track subsequent motion. */
     solverContactDist(i: number): number;
     /**
      * The friction coefficient applied to this manifold's solver contacts. It is combined
@@ -137,4 +148,4 @@ export declare class TempContactManifold {
     solverContactTangentVelocity(i: number, target?: Vector): Vector;
 }
 /** Read-only solver view; geometric subshape and local-surface queries are excluded. */
-export type SolverContactManifold = Pick<TempContactManifold, 'normal' | 'numSolverContacts' | 'solverContactPoint' | 'solverContactDist' | 'friction' | 'restitution' | 'solverContactTangentVelocity'>;
+export type SolverContactManifold = Pick<TempContactManifold, 'normal' | 'numSolverContacts' | 'solverContactPoint' | 'solverContactDist' | 'friction' | 'restitution' | 'solverContactTangentVelocity' | 'solverContactPoint1' | 'solverContactPoint2' | 'solverContactSeparation'>;

package/dist/types/rapier_wasm3d.d.ts

@@ -365,7 +365,19 @@ export class RawContactManifold {
     num_solver_contacts(): number;
     restitution(): number;
     solver_contact_dist(i: number): number;
+    /**
+     * Current world-space solver anchor; includes solver skin/hook offsets.
+     */
+    solver_contact_point1(bodies: RawRigidBodySet, i: number, scratch_buffer: Float32Array): boolean;
+    /**
+     * Current world-space solver anchor; includes solver skin/hook offsets.
+     */
+    solver_contact_point2(bodies: RawRigidBodySet, i: number, scratch_buffer: Float32Array): boolean;
     solver_contact_point(bodies: RawRigidBodySet, i: number, scratch_buffer: Float32Array): boolean;
+    /**
+     * Current anchor separation along the stored world-space solver normal.
+     */
+    solver_contact_separation(bodies: RawRigidBodySet, i: number): number | undefined;
     solver_contact_tangent_velocity(i: number, scratch_buffer: Float32Array): void;
     subshape1(): number;
     subshape2(): number;
@@ -693,10 +705,12 @@ export class RawIntegrationParameters {
     free(): void;
     [Symbol.dispose](): void;
     constructor();
+    contactClustering: boolean;
     readonly contact_erp: number;
     dt: number;
     lengthUnit: number;
     maxCcdSubsteps: number;
+    minCcdDt: number;
     normalizedAllowedLinearError: number;
     normalizedPredictionDistance: number;
     numInternalPgsIterations: number;
@@ -2161,6 +2175,9 @@ export interface InitOutput {
     readonly rawcontactmanifold_restitution: (a: number) => number;
     readonly rawcontactmanifold_solver_contact_dist: (a: number, b: number) => number;
     readonly rawcontactmanifold_solver_contact_point: (a: number, b: number, c: number, d: number) => number;
+    readonly rawcontactmanifold_solver_contact_point1: (a: number, b: number, c: number, d: number) => number;
+    readonly rawcontactmanifold_solver_contact_point2: (a: number, b: number, c: number, d: number) => number;
+    readonly rawcontactmanifold_solver_contact_separation: (a: number, b: number, c: number) => number;
     readonly rawcontactmanifold_solver_contact_tangent_velocity: (a: number, b: number, c: number) => void;
     readonly rawcontactmanifold_subshape1: (a: number) => number;
     readonly rawcontactmanifold_subshape2: (a: number) => number;
@@ -2278,19 +2295,23 @@ export interface InitOutput {
     readonly rawimpulsejointset_len: (a: number) => number;
     readonly rawimpulsejointset_new: () => number;
     readonly rawimpulsejointset_remove: (a: number, b: number, c: number) => void;
+    readonly rawintegrationparameters_contactClustering: (a: number) => number;
     readonly rawintegrationparameters_contact_erp: (a: number) => number;
     readonly rawintegrationparameters_dt: (a: number) => number;
     readonly rawintegrationparameters_lengthUnit: (a: number) => number;
     readonly rawintegrationparameters_maxCcdSubsteps: (a: number) => number;
+    readonly rawintegrationparameters_minCcdDt: (a: number) => number;
     readonly rawintegrationparameters_new: () => number;
     readonly rawintegrationparameters_normalizedAllowedLinearError: (a: number) => number;
     readonly rawintegrationparameters_normalizedPredictionDistance: (a: number) => number;
     readonly rawintegrationparameters_numInternalPgsIterations: (a: number) => number;
     readonly rawintegrationparameters_numSolverIterations: (a: number) => number;
+    readonly rawintegrationparameters_set_contactClustering: (a: number, b: number) => void;
     readonly rawintegrationparameters_set_contact_natural_frequency: (a: number, b: number) => void;
     readonly rawintegrationparameters_set_dt: (a: number, b: number) => void;
     readonly rawintegrationparameters_set_lengthUnit: (a: number, b: number) => void;
     readonly rawintegrationparameters_set_maxCcdSubsteps: (a: number, b: number) => void;
+    readonly rawintegrationparameters_set_minCcdDt: (a: number, b: number) => void;
     readonly rawintegrationparameters_set_normalizedAllowedLinearError: (a: number, b: number) => void;
     readonly rawintegrationparameters_set_normalizedPredictionDistance: (a: number, b: number) => void;
     readonly rawintegrationparameters_set_numInternalPgsIterations: (a: number, b: number) => void;

package/package.json

@@ -1,12 +1,12 @@
 {
   "name": "@absolutejs/rapier3d",
-  "version": "0.1.0",
+  "version": "0.2.0",
   "description": "Rapier 3D with separate geometric and clustered solver-contact inspection",
   "type": "module",
   "license": "Apache-2.0",
   "repository": {
     "type": "git",
-    "url": "https://github.com/absolutejs/rapier3d.git"
+    "url": "git+https://github.com/absolutejs/rapier3d.git"
   },
   "files": [
     "dist",

package/absolutejs/README.md

@@ -1,57 +0,0 @@
-# AbsoluteJS Rapier 3D
-
-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 distance = manifold.solverContactDist(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.