@absolutejs/rapier3d 0.10.0 → 0.11.0

package/dist/types/pipeline/world.d.ts

@@ -10,6 +10,22 @@ import { PhysicsHooks } from "./physics_hooks";
 import { DebugRenderBuffers, DebugRenderPipeline } from "./debug_render_pipeline";
 import { KinematicCharacterController, PidAxesMask, PidController } from "../control";
 import { DynamicRayCastVehicleController } from "../control";
+/** Last profiled step's restricted adaptive contact solves, including CCD passes.
+ * Counts describe solve groups/phases, not individual contacts or physical islands.
+ * Residuals are projected normal velocity errors in world units per second.
+ */
+export interface ContactConvergenceStats {
+    compressionSolves: number;
+    compressionIterations: number;
+    compressionLimitHits: number;
+    /** Maximum terminal residual across eligible compression phases. */
+    maxCompressionResidual: number;
+    restitutionSolves: number;
+    restitutionIterations: number;
+    restitutionLimitHits: number;
+    /** Maximum terminal residual across eligible restitution phases. */
+    maxRestitutionResidual: number;
+}
 /**
  * The physics world.
  *
@@ -568,6 +584,13 @@ export declare class World {
      * This count does not expose internal substep durations or time of impact.
      */
     ccdSubsteps(): number | null;
+    /** Owned observations from the last completed profiled step; null before
+     * that step, after toggling profiling, when disabled, or after restoration.
+     * Zero solves means no eligible adaptive path, not proof of convergence.
+     * A limit hit means the phase exhausted its budget above tolerance.
+     * Reading or modifying the returned object does not affect simulation.
+     */
+    contactConvergence(): ContactConvergenceStats | null;
     /**
      * The time spent in milliseconds by the last step to run the entire simulation step.
      *

package/dist/types/rapier_wasm3d.d.ts

@@ -895,6 +895,7 @@ export class RawPhysicsPipeline {
     free(): void;
     [Symbol.dispose](): void;
     ccd_substeps(): number | undefined;
+    contact_convergence(): Float64Array | undefined;
     is_profiler_enabled(): boolean;
     constructor();
     set_profiler_enabled(enabled: boolean): void;
@@ -2402,6 +2403,7 @@ export interface InitOutput {
     readonly rawnarrowphase_intersection_pairs_with: (a: number, b: number, c: number) => void;
     readonly rawnarrowphase_new: () => number;
     readonly rawphysicspipeline_ccd_substeps: (a: number) => number;
+    readonly rawphysicspipeline_contact_convergence: (a: number, b: number) => void;
     readonly rawphysicspipeline_is_profiler_enabled: (a: number) => number;
     readonly rawphysicspipeline_new: () => number;
     readonly rawphysicspipeline_set_profiler_enabled: (a: number, b: number) => void;

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@absolutejs/rapier3d",
-  "version": "0.10.0",
+  "version": "0.11.0",
   "description": "Rapier 3D with corrected contact witnesses, rotation precision and solver diagnostics",
   "type": "module",
   "license": "Apache-2.0",