@absolutejs/rapier3d 0.11.0 → 0.13.0

package/README.md

@@ -232,7 +232,7 @@ before `init()`. It reports the packaged kernel; supplying custom bytes to
 
 ## Contact witnesses and force-free rotation (0.8)
 
-The collision dependency is pinned to `absolutejs/parry` revision
+Version 0.8 introduced the `absolutejs/parry` collision correction at revision
 `dbd99a8dfce020da3698056471262435d56d3f69`, based on upstream 0.31.1.
 Tetrahedron-to-face reduction now preserves support points needed by GJK's
 previous-simplex calculation. Previously, an overwritten point could be combined
@@ -304,3 +304,74 @@ Residual fields are the maximum **terminal** projected normal-velocity error amo
 The added diagnostics exactly preserve physical result records across 548 paired collision/free-motion cases versus 0.10.0. Profiler-on/off snapshot parity and CCD aggregation are also tested. In the 20/1/20 kg fixture, the counters reveal 164 compression passes and 256 restitution sweeps, with a terminal restitution residual near 2.15e-6 m/s. A tiny physical error can therefore coexist with an exhausted iteration budget. Treat that as useful evidence, not as zero or automatic failure of the simulation.
 
 Unprofiled paired median costs at 1/8/32 islands were 0.65/2.49/7.09 ms versus 0.66/2.45/7.28 ms for 0.10.0 in the qualification run. These host-specific small samples do not establish a speedup or frame-rate guarantee. Query allocation occurs only when the caller requests observations.
+
+## Bounded managed-step profiling
+
+`createPhysicsStepProfiler(world, options)` borrows an initialized world. Call
+`profiler.step(eventQueue?, hooks?)` wherever you would explicitly call
+`world.step()`, then `profiler.snapshot()` to obtain an owned report. It creates no
+render loop, listeners, transport, or ownership of the world/event queue. This is
+suitable for workers and offline jobs as well as application-managed stepping.
+
+```ts
+const profiler = RAPIER.createPhysicsStepProfiler(world, {
+    sampleEvery: 32,
+    sampleStartStep: 0,
+    maxSamples: 16,
+});
+for (let step = 0; step < 960; step++) profiler.step();
+const report = { engine: RAPIER.buildInfo, physics: profiler.snapshot() };
+```
+
+Every managed call records wall time spent inside `World.step`. Selected calls
+also capture native phase timings, CCD substeps, convergence counters and world
+units/settings. Native timings are nested: do not add solver, assembly,
+resolution and CCD durations together. Native samples are observations of those
+selected calls, not estimates of unsampled solver work. The summary wall-time
+sum excludes profiler setup, native capture and report construction; it is not
+whole-job time or an FPS measurement.
+
+The default cadence and capacity are both 32. Sampling stops when capacity is
+reached; `samplesOmittedForBudget` counts later eligible calls. Use
+`sampleStartStep` to inspect a later window. Capacity is bounded to 256; zero
+keeps wall-time accounting without enabling native profiling. A failed selected
+call consumes a slot. There is no unbounded event queue or per-body duplication.
+
+Each selected call restores the previous native profiler setting, including when
+stepping throws. Unselected calls leave it alone. If profiling was already on,
+the caller retains fresh native observations; otherwise turning it back off
+invalidates native live queries, but the owned captured sample remains readable.
+Original step exceptions (including non-Error values) propagate unchanged.
+Clock and native-capture failures are counted instead of stopping a successful
+physical step; missing/invalid observations are null, never invented zero times.
+A custom `now` must return monotonic milliseconds and have no side effects.
+Reports remain usable after freeing the borrowed world. Always attach the actual
+build identity when storing or sending a report through your existing diagnostics
+system. Sampling has a cost: use explicit application policy and measure it.
+
+The sampler was introduced in 0.12.0 without changing the 0.11.0 native kernel.
+Sampling itself does not change solver thresholds, contact policies or physical
+state serialization. Later native revisions remain identified by buildInfo.
+
+
+## Compound inertia reconstruction (0.13)
+
+The collision dependency now pins `absolutejs/parry` revision
+`c566aabd77be8ac7a427c2b704860c47e34657b9`. Mass-property aggregation uses a
+scale-normalized, bounded Jacobi decomposition with double-precision workspace.
+It corrects principal frames for small tensors and repeated or nearly repeated
+moments. Public f32 types, mass, COM and nonnegative principal-moment policy are
+unchanged; compound mass properties and resulting motion can change when the
+previous decomposition was inaccurate. No JavaScript API is added.
+
+The focused native suite covers 2,688 tensor/aggregation cases in f32 and f64.
+The package tests also reconstruct two- and three-collider physical tensors
+across scale, orientation and insertion order. The small-object baseline could
+exceed 50% relative tensor error; this is a reproduced fixture, not an estimate
+of error across all objects. Angular integration and articulated COM-transport
+limitations are separate and remain under investigation.
+
+This calculation runs when mass properties are recomputed. It is not a render
+optimization: recompute after geometry/mass changes, not unnecessarily every
+frame. Qualification records, measured cost and limits are retained under
+`absolutejs/research/inertia-reconstruction/`.

package/absolutejs/README.md

@@ -232,7 +232,7 @@ before `init()`. It reports the packaged kernel; supplying custom bytes to
 
 ## Contact witnesses and force-free rotation (0.8)
 
-The collision dependency is pinned to `absolutejs/parry` revision
+Version 0.8 introduced the `absolutejs/parry` collision correction at revision
 `dbd99a8dfce020da3698056471262435d56d3f69`, based on upstream 0.31.1.
 Tetrahedron-to-face reduction now preserves support points needed by GJK's
 previous-simplex calculation. Previously, an overwritten point could be combined
@@ -304,3 +304,74 @@ Residual fields are the maximum **terminal** projected normal-velocity error amo
 The added diagnostics exactly preserve physical result records across 548 paired collision/free-motion cases versus 0.10.0. Profiler-on/off snapshot parity and CCD aggregation are also tested. In the 20/1/20 kg fixture, the counters reveal 164 compression passes and 256 restitution sweeps, with a terminal restitution residual near 2.15e-6 m/s. A tiny physical error can therefore coexist with an exhausted iteration budget. Treat that as useful evidence, not as zero or automatic failure of the simulation.
 
 Unprofiled paired median costs at 1/8/32 islands were 0.65/2.49/7.09 ms versus 0.66/2.45/7.28 ms for 0.10.0 in the qualification run. These host-specific small samples do not establish a speedup or frame-rate guarantee. Query allocation occurs only when the caller requests observations.
+
+## Bounded managed-step profiling
+
+`createPhysicsStepProfiler(world, options)` borrows an initialized world. Call
+`profiler.step(eventQueue?, hooks?)` wherever you would explicitly call
+`world.step()`, then `profiler.snapshot()` to obtain an owned report. It creates no
+render loop, listeners, transport, or ownership of the world/event queue. This is
+suitable for workers and offline jobs as well as application-managed stepping.
+
+```ts
+const profiler = RAPIER.createPhysicsStepProfiler(world, {
+    sampleEvery: 32,
+    sampleStartStep: 0,
+    maxSamples: 16,
+});
+for (let step = 0; step < 960; step++) profiler.step();
+const report = { engine: RAPIER.buildInfo, physics: profiler.snapshot() };
+```
+
+Every managed call records wall time spent inside `World.step`. Selected calls
+also capture native phase timings, CCD substeps, convergence counters and world
+units/settings. Native timings are nested: do not add solver, assembly,
+resolution and CCD durations together. Native samples are observations of those
+selected calls, not estimates of unsampled solver work. The summary wall-time
+sum excludes profiler setup, native capture and report construction; it is not
+whole-job time or an FPS measurement.
+
+The default cadence and capacity are both 32. Sampling stops when capacity is
+reached; `samplesOmittedForBudget` counts later eligible calls. Use
+`sampleStartStep` to inspect a later window. Capacity is bounded to 256; zero
+keeps wall-time accounting without enabling native profiling. A failed selected
+call consumes a slot. There is no unbounded event queue or per-body duplication.
+
+Each selected call restores the previous native profiler setting, including when
+stepping throws. Unselected calls leave it alone. If profiling was already on,
+the caller retains fresh native observations; otherwise turning it back off
+invalidates native live queries, but the owned captured sample remains readable.
+Original step exceptions (including non-Error values) propagate unchanged.
+Clock and native-capture failures are counted instead of stopping a successful
+physical step; missing/invalid observations are null, never invented zero times.
+A custom `now` must return monotonic milliseconds and have no side effects.
+Reports remain usable after freeing the borrowed world. Always attach the actual
+build identity when storing or sending a report through your existing diagnostics
+system. Sampling has a cost: use explicit application policy and measure it.
+
+The sampler was introduced in 0.12.0 without changing the 0.11.0 native kernel.
+Sampling itself does not change solver thresholds, contact policies or physical
+state serialization. Later native revisions remain identified by buildInfo.
+
+
+## Compound inertia reconstruction (0.13)
+
+The collision dependency now pins `absolutejs/parry` revision
+`c566aabd77be8ac7a427c2b704860c47e34657b9`. Mass-property aggregation uses a
+scale-normalized, bounded Jacobi decomposition with double-precision workspace.
+It corrects principal frames for small tensors and repeated or nearly repeated
+moments. Public f32 types, mass, COM and nonnegative principal-moment policy are
+unchanged; compound mass properties and resulting motion can change when the
+previous decomposition was inaccurate. No JavaScript API is added.
+
+The focused native suite covers 2,688 tensor/aggregation cases in f32 and f64.
+The package tests also reconstruct two- and three-collider physical tensors
+across scale, orientation and insertion order. The small-object baseline could
+exceed 50% relative tensor error; this is a reproduced fixture, not an estimate
+of error across all objects. Angular integration and articulated COM-transport
+limitations are separate and remain under investigation.
+
+This calculation runs when mass properties are recomputed. It is not a render
+optimization: recompute after geometry/mass changes, not unnecessarily every
+frame. Qualification records, measured cost and limits are retained under
+`absolutejs/research/inertia-reconstruction/`.

package/dist/build-info.mjs

@@ -1 +1 @@
-var e=Object.freeze({schemaVersion:1,scope:"package",packageName:"@absolutejs/rapier3d",packageVersion:"0.11.0",qualifiedKernelRelease:"0.11.0",upstream:"b716d375efc0201003f0cd9ef7168eee0b62c177",engine:"0.36.0",collisionLibraryVersion:"0.31.1",collisionSource:"git+https://github.com/absolutejs/parry?rev=dbd99a8dfce020da3698056471262435d56d3f69#dbd99a8dfce020da3698056471262435d56d3f69",bindings:"0.21.0",bindgen:"0.2.129",wasmSha256:"352f0e9ff982bd9486e3771bf65fab1944f81ca53f7a5f5d43bee56acdaff6a0",wasmBytes:3298167,solverChanges:!0});export{e as buildInfo};
+var e=Object.freeze({schemaVersion:1,scope:"package",packageName:"@absolutejs/rapier3d",packageVersion:"0.13.0",qualifiedKernelRelease:"0.13.0",upstream:"b716d375efc0201003f0cd9ef7168eee0b62c177",engine:"0.36.0",collisionLibraryVersion:"0.31.1",collisionSource:"git+https://github.com/absolutejs/parry?rev=c566aabd77be8ac7a427c2b704860c47e34657b9#c566aabd77be8ac7a427c2b704860c47e34657b9",bindings:"0.21.0",bindgen:"0.2.129",wasmSha256:"a6f06627b5b95ff15b87fbe45bf8dfd19eeb78b4f949a912e3fed5805fbcc62b",wasmBytes:3298974,solverChanges:!0});export{e as buildInfo};

package/dist/provenance.json

@@ -2,15 +2,15 @@
   "schemaVersion": 1,
   "scope": "package",
   "packageName": "@absolutejs/rapier3d",
-  "packageVersion": "0.11.0",
-  "qualifiedKernelRelease": "0.11.0",
+  "packageVersion": "0.13.0",
+  "qualifiedKernelRelease": "0.13.0",
   "upstream": "b716d375efc0201003f0cd9ef7168eee0b62c177",
   "engine": "0.36.0",
   "collisionLibraryVersion": "0.31.1",
-  "collisionSource": "git+https://github.com/absolutejs/parry?rev=dbd99a8dfce020da3698056471262435d56d3f69#dbd99a8dfce020da3698056471262435d56d3f69",
+  "collisionSource": "git+https://github.com/absolutejs/parry?rev=c566aabd77be8ac7a427c2b704860c47e34657b9#c566aabd77be8ac7a427c2b704860c47e34657b9",
   "bindings": "0.21.0",
   "bindgen": "0.2.129",
-  "wasmSha256": "352f0e9ff982bd9486e3771bf65fab1944f81ca53f7a5f5d43bee56acdaff6a0",
-  "wasmBytes": 3298167,
+  "wasmSha256": "a6f06627b5b95ff15b87fbe45bf8dfd19eeb78b4f949a912e3fed5805fbcc62b",
+  "wasmBytes": 3298974,
   "solverChanges": true
 }