@absolutejs/rapier3d 0.14.0 → 0.15.0

package/README.md

@@ -409,3 +409,41 @@ 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`.
+
+## Isolated fixed-assembly integration and observations (0.15)
+
+The solver additionally admits isolated floating assemblies made only
+of fixed links, with gyroscopic forces enabled, no damping/armature/friction,
+no locks or fast rotation, and no external loads except uniform gravity shared
+by every link. Contacts, external joints, movable links, differing gravity
+scales and unsupported states retain their existing path. Aggregate inertia is
+assembled in authored local frames, then a matched angular update advances the
+assembly about its total center of mass. Linear gravity uses the existing
+semi-implicit kick-then-drift convention. This is not a contact or fracture model.
+
+`world.freeAssemblyStats()` reports owned attempt counts after a completed
+profiled step, with the same freshness rules as `freeRotationStats()`. The bounded
+profiler records a deep-owned `native.freeAssembly` object. Counters distinguish
+accepted steps, nonphysical-inertia rejections, rotation-limit rejections, and
+invalid/failed solves. Unsupported assemblies and invalid aggregate construction
+are excluded before an attempt; these exclusions do not increment rejection
+counts. Zero counts do not prove conservation. Counts include solver substeps
+and CCD passes. Qualification includes 198 package tests, 843 game tests, GPU-disabled browser
+checks, 80 byte-exact snapshot replays and matching independent distribution
+builds. The synthetic 16-assembly falling benchmark measured about 0.95 additional
+microseconds per assembly/substep (median paired batch ratio 1.12); this is not
+a hardware FPS result. Contact coupling, partial-subtree fracture and extreme
+thin-moment storage remain separate work. See
+`absolutejs/research/aggregate-free-transport/README.md` for evidence and limits.

package/absolutejs/README.md

@@ -409,3 +409,41 @@ 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`.
+
+## Isolated fixed-assembly integration and observations (0.15)
+
+The solver additionally admits isolated floating assemblies made only
+of fixed links, with gyroscopic forces enabled, no damping/armature/friction,
+no locks or fast rotation, and no external loads except uniform gravity shared
+by every link. Contacts, external joints, movable links, differing gravity
+scales and unsupported states retain their existing path. Aggregate inertia is
+assembled in authored local frames, then a matched angular update advances the
+assembly about its total center of mass. Linear gravity uses the existing
+semi-implicit kick-then-drift convention. This is not a contact or fracture model.
+
+`world.freeAssemblyStats()` reports owned attempt counts after a completed
+profiled step, with the same freshness rules as `freeRotationStats()`. The bounded
+profiler records a deep-owned `native.freeAssembly` object. Counters distinguish
+accepted steps, nonphysical-inertia rejections, rotation-limit rejections, and
+invalid/failed solves. Unsupported assemblies and invalid aggregate construction
+are excluded before an attempt; these exclusions do not increment rejection
+counts. Zero counts do not prove conservation. Counts include solver substeps
+and CCD passes. Qualification includes 198 package tests, 843 game tests, GPU-disabled browser
+checks, 80 byte-exact snapshot replays and matching independent distribution
+builds. The synthetic 16-assembly falling benchmark measured about 0.95 additional
+microseconds per assembly/substep (median paired batch ratio 1.12); this is not
+a hardware FPS result. Contact coupling, partial-subtree fracture and extreme
+thin-moment storage remain separate work. See
+`absolutejs/research/aggregate-free-transport/README.md` for evidence and limits.

package/dist/build-info.mjs

@@ -1 +1 @@
-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};
+var e=Object.freeze({schemaVersion:1,scope:"package",packageName:"@absolutejs/rapier3d",packageVersion:"0.15.0",qualifiedKernelRelease:"0.15.0",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:"10892b275313607d9983431590c4b1bce07945cf90d2b1c9340173373da3273c",wasmBytes:3317524,solverChanges:!0});export{e as buildInfo};

package/dist/provenance.json

@@ -2,15 +2,15 @@
   "schemaVersion": 1,
   "scope": "package",
   "packageName": "@absolutejs/rapier3d",
-  "packageVersion": "0.14.0",
-  "qualifiedKernelRelease": "0.14.0",
+  "packageVersion": "0.15.0",
+  "qualifiedKernelRelease": "0.15.0",
   "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,
+  "wasmSha256": "10892b275313607d9983431590c4b1bce07945cf90d2b1c9340173373da3273c",
+  "wasmBytes": 3317524,
   "solverChanges": true
 }