@absolutejs/rapier3d 0.12.0 → 0.14.0

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
@@ -349,5 +349,63 @@ 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.
 
-This API uses the unchanged qualified 0.11.0 native kernel. It does not change
-solver thresholds, contact policies or physical state serialization.
+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/`.
+
+
+## Matched isolated-body rotation and observations (0.14)
+
+An isolated, awake dynamic body with gyroscopic forces enabled now uses a
+bounded implicit midpoint angular update with its matching Cayley attitude.
+This substantially reduces free-flight angular energy and world-momentum drift.
+The path requires physical stored inertia, unlocked angular axes, zero external
+torque and angular damping, and ordinary rotation limits. Contact-connected,
+jointed, articulated, soft/FEM and fast-rotation bodies retain their existing
+solver path. This does not correct coupled angular/contact integration or the
+remaining articulated COM-transport defect.
+
+A rejected update does not partially mutate state. Nonphysical stored moments,
+rotation limits and failed/invalid solves are observed explicitly; the existing
+correction/cap ordering applies for the rest of that island solve. The next solve
+re-evaluates eligibility. No energy or momentum clamp is introduced.
+
+With `world.profilerEnabled = true`, `world.freeRotationStats()` returns owned
+counts (`acceptedSteps`, `nonphysicalInertiaRejections`, `rotationLimitRejections`,
+`invalidOrFailedSolves`), maximum Newton updates, and maximum accepted residual
+in radians/second. It returns null before a completed profiled step, after
+restoration, while profiling is disabled or after toggling it. Counts include
+solver substeps and CCD passes; zero acceptance does not establish conservation.
+The bounded `createPhysicsStepProfiler` includes these observations as each
+sample's `native.freeRotation`, with the same sample and ownership limits.
+
+The 96-case native matrix reduces worst relative angular-energy drift from
+3.2% to 0.00026%; 542 excluded/rejected control states match the previous release
+exactly. On a synthetic 32-body CPU/WASM workload the median paired additional
+cost is approximately 0.7 microseconds per body/substep (2.9x batch ratio).
+These are fixture measurements, not game-wide guarantees or hardware FPS.
+Admission, numerical/storage limits, actual-engine tests, failed assumptions and
+cost records are preserved in `absolutejs/research/rigid-midpoint-engine`.

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
@@ -349,5 +349,63 @@ 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.
 
-This API uses the unchanged qualified 0.11.0 native kernel. It does not change
-solver thresholds, contact policies or physical state serialization.
+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/`.
+
+
+## Matched isolated-body rotation and observations (0.14)
+
+An isolated, awake dynamic body with gyroscopic forces enabled now uses a
+bounded implicit midpoint angular update with its matching Cayley attitude.
+This substantially reduces free-flight angular energy and world-momentum drift.
+The path requires physical stored inertia, unlocked angular axes, zero external
+torque and angular damping, and ordinary rotation limits. Contact-connected,
+jointed, articulated, soft/FEM and fast-rotation bodies retain their existing
+solver path. This does not correct coupled angular/contact integration or the
+remaining articulated COM-transport defect.
+
+A rejected update does not partially mutate state. Nonphysical stored moments,
+rotation limits and failed/invalid solves are observed explicitly; the existing
+correction/cap ordering applies for the rest of that island solve. The next solve
+re-evaluates eligibility. No energy or momentum clamp is introduced.
+
+With `world.profilerEnabled = true`, `world.freeRotationStats()` returns owned
+counts (`acceptedSteps`, `nonphysicalInertiaRejections`, `rotationLimitRejections`,
+`invalidOrFailedSolves`), maximum Newton updates, and maximum accepted residual
+in radians/second. It returns null before a completed profiled step, after
+restoration, while profiling is disabled or after toggling it. Counts include
+solver substeps and CCD passes; zero acceptance does not establish conservation.
+The bounded `createPhysicsStepProfiler` includes these observations as each
+sample's `native.freeRotation`, with the same sample and ownership limits.
+
+The 96-case native matrix reduces worst relative angular-energy drift from
+3.2% to 0.00026%; 542 excluded/rejected control states match the previous release
+exactly. On a synthetic 32-body CPU/WASM workload the median paired additional
+cost is approximately 0.7 microseconds per body/substep (2.9x batch ratio).
+These are fixture measurements, not game-wide guarantees or hardware FPS.
+Admission, numerical/storage limits, actual-engine tests, failed assumptions and
+cost records are preserved in `absolutejs/research/rigid-midpoint-engine`.

package/dist/build-info.mjs

@@ -1 +1 @@
-var e=Object.freeze({schemaVersion:1,scope:"package",packageName:"@absolutejs/rapier3d",packageVersion:"0.12.0",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:"0.14.0",qualifiedKernelRelease:"0.14.0",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:"0923de1a2b4be66faf2a17e602c566b227457cd511ef4ea6bab799c9d227af6c",wasmBytes:3307201,solverChanges:!0});export{e as buildInfo};

package/dist/provenance.json

@@ -2,15 +2,15 @@
   "schemaVersion": 1,
   "scope": "package",
   "packageName": "@absolutejs/rapier3d",
-  "packageVersion": "0.12.0",
-  "qualifiedKernelRelease": "0.11.0",
+  "packageVersion": "0.14.0",
+  "qualifiedKernelRelease": "0.14.0",
   "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": "0923de1a2b4be66faf2a17e602c566b227457cd511ef4ea6bab799c9d227af6c",
+  "wasmBytes": 3307201,
   "solverChanges": true
 }