@absolutejs/rapier3d 0.1.0 → 0.2.1

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": "0.2.1",
   "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",