@absolutejs/rapier3d 0.16.3 → 0.18.0

package/README.md

@@ -59,7 +59,7 @@ reconstructing the entire angular velocity through the inertia frame.
 
 Use Bun 1.4.4+absolute.1, Rust 1.94.0 with `wasm32-unknown-unknown`, and Python 3.12.
 Run `bun install --frozen-lockfile`, then `bash absolutejs/scripts/build-native.sh`.
-Cargo's exact lockfile is versioned, compilation is limited to two jobs, and the
+Cargo's exact lockfile is versioned, compilation defaults to one job (override with `CARGO_BUILD_JOBS`), and the
 wasm-bindgen 0.2.129 CLI archive is checksum verified before extraction. Caches and
 generated build output are reproducible; modified source and selected test
 receipts are committed. `dist/provenance.json` records the resulting WASM hash.
@@ -566,3 +566,74 @@ observations are not hardware FPS or a universal speedup claim. See
 Independent builds match all 49 distribution files and the packaged native
 payload byte-for-byte. Raw executable/data sections match; only unshipped
 wasm-bindgen metadata differs.
+
+## Rotational intervals and cached contact directions (0.17.0)
+
+Orientation-changing 3D direct sweeps now use separating-plane motion bounds
+to detect the captured case where a rotating bar crosses a surface between
+two clear endpoint poses. Translation-only sweeps retain the existing path.
+The distance-query budget remains 25, with explicit failure if safe progress
+cannot be established. Composite traversal is a separate limitation; this is
+not a universal continuous-separation guarantee.
+
+Stalled convex queries preserve the direction associated with the support
+bound used for classification. This fixes a captured tree/triangle query that
+reported about 202 mm penetration while independent plane projection bounded
+required separation to about 0.013 mm. Both corrections are qualified together: 
+the rotational change alone exposed this cached-direction error in the full
+oak excavation test. The combined engine passes it and all 844 game tests.
+
+Package API, snapshot layout, contact tolerances and solver budgets are unchanged.
+The raw variant-5/960 terrain clearance rejection remains identically present;
+physical outcomes elsewhere may change. Bounded CPU control scenes retain
+identical physical results and comparable timings. The targeted tilted-contact
+fixture costs about 51% more after extended warmup, about 0.037 ms extra per
+restored step in that fixture. This is a measured correctness tradeoff, not a
+browser FPS or general performance guarantee.
+
+Qualification includes 432 direct-sweep cases, captured old/new contact
+regressions, 237 package tests, GPU-disabled browser checks, native one/two-worker
+controls, no-std, 24 tree/rate comparisons, four generated/excavated requests,
+18 flat-tree cases and an independent build matching all shipped files.
+Evidence: `absolutejs/research/rotational-contact/`.
+
+### Numerical contact softness
+
+`world.integrationParameters.contactSoftness` and `staticContactSoftness` read
+or atomically replace `{ naturalFrequency, dampingRatio }`. The first controls
+dynamic contacts (native default 30 Hz / 10); the second controls contacts with
+a fixed body (native default 60 Hz / 10). Change them between steps. Reads
+return owned copies; values must be representable finite native coefficients,
+with positive frequency and nonnegative damping. Both values are validated
+before either changes. Snapshots preserve both settings. Bounded step profiles
+record each distinct settings pair once in a bounded `contactSettings` table;
+samples carry `native.contactSettingsIndex`. Reports deeply own that table,
+including after the world is freed. This avoids repeating configuration in
+every sample and keeps telemetry within existing event budgets.
+
+These are numerical regularization parameters, not measured material elasticity.
+Higher frequency can reduce transient penetration but may produce jitter or
+prevent sleeping. Qualify motion, contact, sleeping and cost across actual
+scenarios before changing a product's policy. Defaults are unchanged.
+
+### 0.18.0 contact correction and adoption limits
+
+The collision library rejects an exactly duplicated CSO point before it can
+form a degenerate tetrahedron and lose a valid terrain contact. Both friction
+builders select static/dynamic coefficients directly, avoiding dependence on
+an unused coefficient through floating-point cancellation.
+
+Native defaults remain unchanged. In the game's actual tree matrix, the
+collision correction fixes one missed-contact case but makes another case
+exceed the game's clearance limit at default softness (-21.007 mm). The game
+therefore qualifies an explicit 600 Hz / 10 static-contact policy alongside
+this engine: all 24 tree/rate cases and 18 cut-tree cases pass and sleep.
+This is a bounded product policy, not a universal stiffness recommendation.
+The default-policy failure is retained in the investigation records.
+
+Qualification: 242 package tests, 847 game tests, four generated/excavated
+terrain requests, GPU-disabled browser controls, native serial/two-worker
+checks, no-std, and independent builds matching all shipped files. Three
+ordinary CPU controls are within roughly 1% of 0.17.0 in this run. See
+`absolutejs/research/contact-softness-controls/` for measured fixture costs,
+source hashes, intermediate failures and scope limitations.

package/absolutejs/README.md

@@ -59,7 +59,7 @@ reconstructing the entire angular velocity through the inertia frame.
 
 Use Bun 1.4.4+absolute.1, Rust 1.94.0 with `wasm32-unknown-unknown`, and Python 3.12.
 Run `bun install --frozen-lockfile`, then `bash absolutejs/scripts/build-native.sh`.
-Cargo's exact lockfile is versioned, compilation is limited to two jobs, and the
+Cargo's exact lockfile is versioned, compilation defaults to one job (override with `CARGO_BUILD_JOBS`), and the
 wasm-bindgen 0.2.129 CLI archive is checksum verified before extraction. Caches and
 generated build output are reproducible; modified source and selected test
 receipts are committed. `dist/provenance.json` records the resulting WASM hash.
@@ -566,3 +566,74 @@ observations are not hardware FPS or a universal speedup claim. See
 Independent builds match all 49 distribution files and the packaged native
 payload byte-for-byte. Raw executable/data sections match; only unshipped
 wasm-bindgen metadata differs.
+
+## Rotational intervals and cached contact directions (0.17.0)
+
+Orientation-changing 3D direct sweeps now use separating-plane motion bounds
+to detect the captured case where a rotating bar crosses a surface between
+two clear endpoint poses. Translation-only sweeps retain the existing path.
+The distance-query budget remains 25, with explicit failure if safe progress
+cannot be established. Composite traversal is a separate limitation; this is
+not a universal continuous-separation guarantee.
+
+Stalled convex queries preserve the direction associated with the support
+bound used for classification. This fixes a captured tree/triangle query that
+reported about 202 mm penetration while independent plane projection bounded
+required separation to about 0.013 mm. Both corrections are qualified together: 
+the rotational change alone exposed this cached-direction error in the full
+oak excavation test. The combined engine passes it and all 844 game tests.
+
+Package API, snapshot layout, contact tolerances and solver budgets are unchanged.
+The raw variant-5/960 terrain clearance rejection remains identically present;
+physical outcomes elsewhere may change. Bounded CPU control scenes retain
+identical physical results and comparable timings. The targeted tilted-contact
+fixture costs about 51% more after extended warmup, about 0.037 ms extra per
+restored step in that fixture. This is a measured correctness tradeoff, not a
+browser FPS or general performance guarantee.
+
+Qualification includes 432 direct-sweep cases, captured old/new contact
+regressions, 237 package tests, GPU-disabled browser checks, native one/two-worker
+controls, no-std, 24 tree/rate comparisons, four generated/excavated requests,
+18 flat-tree cases and an independent build matching all shipped files.
+Evidence: `absolutejs/research/rotational-contact/`.
+
+### Numerical contact softness
+
+`world.integrationParameters.contactSoftness` and `staticContactSoftness` read
+or atomically replace `{ naturalFrequency, dampingRatio }`. The first controls
+dynamic contacts (native default 30 Hz / 10); the second controls contacts with
+a fixed body (native default 60 Hz / 10). Change them between steps. Reads
+return owned copies; values must be representable finite native coefficients,
+with positive frequency and nonnegative damping. Both values are validated
+before either changes. Snapshots preserve both settings. Bounded step profiles
+record each distinct settings pair once in a bounded `contactSettings` table;
+samples carry `native.contactSettingsIndex`. Reports deeply own that table,
+including after the world is freed. This avoids repeating configuration in
+every sample and keeps telemetry within existing event budgets.
+
+These are numerical regularization parameters, not measured material elasticity.
+Higher frequency can reduce transient penetration but may produce jitter or
+prevent sleeping. Qualify motion, contact, sleeping and cost across actual
+scenarios before changing a product's policy. Defaults are unchanged.
+
+### 0.18.0 contact correction and adoption limits
+
+The collision library rejects an exactly duplicated CSO point before it can
+form a degenerate tetrahedron and lose a valid terrain contact. Both friction
+builders select static/dynamic coefficients directly, avoiding dependence on
+an unused coefficient through floating-point cancellation.
+
+Native defaults remain unchanged. In the game's actual tree matrix, the
+collision correction fixes one missed-contact case but makes another case
+exceed the game's clearance limit at default softness (-21.007 mm). The game
+therefore qualifies an explicit 600 Hz / 10 static-contact policy alongside
+this engine: all 24 tree/rate cases and 18 cut-tree cases pass and sleep.
+This is a bounded product policy, not a universal stiffness recommendation.
+The default-policy failure is retained in the investigation records.
+
+Qualification: 242 package tests, 847 game tests, four generated/excavated
+terrain requests, GPU-disabled browser controls, native serial/two-worker
+checks, no-std, and independent builds matching all shipped files. Three
+ordinary CPU controls are within roughly 1% of 0.17.0 in this run. See
+`absolutejs/research/contact-softness-controls/` for measured fixture costs,
+source hashes, intermediate failures and scope limitations.

package/dist/build-info.mjs

@@ -1 +1 @@
-var e=Object.freeze({schemaVersion:1,scope:"package",packageName:"@absolutejs/rapier3d",packageVersion:"0.16.3",qualifiedKernelRelease:"0.16.3",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:"1f2e3e463298859e3819d2c8b1f3741ba5bed2673687b71576c57fc1c0c035a2",wasmBytes:3357191,solverChanges:!0});export{e as buildInfo};
+var e=Object.freeze({schemaVersion:1,scope:"package",packageName:"@absolutejs/rapier3d",packageVersion:"0.18.0",qualifiedKernelRelease:"0.18.0",upstream:"b716d375efc0201003f0cd9ef7168eee0b62c177",engine:"0.36.0",collisionLibraryVersion:"0.31.1",collisionSource:"git+https://github.com/absolutejs/parry?rev=53ac0b0b02767300da09d092d97cef53a975c947#53ac0b0b02767300da09d092d97cef53a975c947",bindings:"0.21.0",bindgen:"0.2.129",wasmSha256:"67e366a5151fd865f6e6fb154a8cb27a7c4073c19e51e0e594633cf07f6e956e",wasmBytes:3363613,solverChanges:!0});export{e as buildInfo};

package/dist/provenance.json

@@ -2,15 +2,15 @@
   "schemaVersion": 1,
   "scope": "package",
   "packageName": "@absolutejs/rapier3d",
-  "packageVersion": "0.16.3",
-  "qualifiedKernelRelease": "0.16.3",
+  "packageVersion": "0.18.0",
+  "qualifiedKernelRelease": "0.18.0",
   "upstream": "b716d375efc0201003f0cd9ef7168eee0b62c177",
   "engine": "0.36.0",
   "collisionLibraryVersion": "0.31.1",
-  "collisionSource": "git+https://github.com/absolutejs/parry?rev=c566aabd77be8ac7a427c2b704860c47e34657b9#c566aabd77be8ac7a427c2b704860c47e34657b9",
+  "collisionSource": "git+https://github.com/absolutejs/parry?rev=53ac0b0b02767300da09d092d97cef53a975c947#53ac0b0b02767300da09d092d97cef53a975c947",
   "bindings": "0.21.0",
   "bindgen": "0.2.129",
-  "wasmSha256": "1f2e3e463298859e3819d2c8b1f3741ba5bed2673687b71576c57fc1c0c035a2",
-  "wasmBytes": 3357191,
+  "wasmSha256": "67e366a5151fd865f6e6fb154a8cb27a7c4073c19e51e0e594633cf07f6e956e",
+  "wasmBytes": 3363613,
   "solverChanges": true
 }