@absolutejs/rapier3d 0.13.0 → 0.14.1

package/README.md

@@ -375,3 +375,49 @@ 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`.
+
+### Floating-root center-of-mass coordinates (0.14.1)
+
+Articulation root linear velocity is measured at its center of mass. For an
+object whose authored origin differs from its mass center, time integration
+must rotate the local COM offset while advancing that physical center. The root
+origin update includes `R_old * localCom - R_new * localCom`; otherwise moving
+an object's modeling origin changes its physical trajectory. Fixed roots and
+zero-offset roots retain their existing arithmetic. This correction does not
+replace the articulation's angular integrator or eliminate remaining aggregate
+momentum/energy drift. Coordinate-covariance, movable-joint and snapshot replay
+regressions are recorded in `absolutejs/research/rigid-assembly`.

package/absolutejs/README.md

@@ -375,3 +375,49 @@ 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`.
+
+### Floating-root center-of-mass coordinates (0.14.1)
+
+Articulation root linear velocity is measured at its center of mass. For an
+object whose authored origin differs from its mass center, time integration
+must rotate the local COM offset while advancing that physical center. The root
+origin update includes `R_old * localCom - R_new * localCom`; otherwise moving
+an object's modeling origin changes its physical trajectory. Fixed roots and
+zero-offset roots retain their existing arithmetic. This correction does not
+replace the articulation's angular integrator or eliminate remaining aggregate
+momentum/energy drift. Coordinate-covariance, movable-joint and snapshot replay
+regressions are recorded in `absolutejs/research/rigid-assembly`.

package/dist/build-info.mjs

@@ -1 +1 @@
-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};
+var e=Object.freeze({schemaVersion:1,scope:"package",packageName:"@absolutejs/rapier3d",packageVersion:"0.14.1",qualifiedKernelRelease:"0.14.1",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:"4686ddcbc3804f6692e67a93a0a99eb54ea92babc4ad293a54010ef54b7c9ec5",wasmBytes:3307856,solverChanges:!0});export{e as buildInfo};

package/dist/provenance.json

@@ -2,15 +2,15 @@
   "schemaVersion": 1,
   "scope": "package",
   "packageName": "@absolutejs/rapier3d",
-  "packageVersion": "0.13.0",
-  "qualifiedKernelRelease": "0.13.0",
+  "packageVersion": "0.14.1",
+  "qualifiedKernelRelease": "0.14.1",
   "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,
+  "wasmSha256": "4686ddcbc3804f6692e67a93a0a99eb54ea92babc4ad293a54010ef54b7c9ec5",
+  "wasmBytes": 3307856,
   "solverChanges": true
 }