@absolutejs/rapier3d 0.17.0 → 0.18.0

package/dist/types/dynamics/integration_parameters.d.ts

@@ -1,5 +1,12 @@
 import { RawIntegrationParameters } from "../raw";
 import { SoftRecoverySettings } from "./soft_body";
+/** Numerical spring regularization, not a measured material elasticity model. */
+export interface ContactSoftness {
+    /** Frequency in Hz. Setters require positive values; raw native snapshots may contain zero. */
+    naturalFrequency: number;
+    /** Nonnegative damping ratio. */
+    dampingRatio: number;
+}
 export declare class IntegrationParameters {
     raw: RawIntegrationParameters;
     constructor(raw?: RawIntegrationParameters);
@@ -7,6 +14,14 @@ export declare class IntegrationParameters {
      * Free the WASM memory used by these integration parameters.
      */
     free(): void;
+    /** A copy of dynamic-contact softness. Native defaults are 30 Hz and damping ratio 10. */
+    get contactSoftness(): ContactSoftness;
+    /** Change between steps. Both coefficients are validated before either changes. */
+    set contactSoftness(value: ContactSoftness);
+    /** A copy of fixed-body contact softness. Native defaults are 60 Hz and damping ratio 10. */
+    get staticContactSoftness(): ContactSoftness;
+    /** Change between steps. Higher stiffness may reduce penetration but can increase jitter. */
+    set staticContactSoftness(value: ContactSoftness);
     /** Merge compatible contact manifolds into solver clusters. Upstream default: true. */
     get contactClustering(): boolean;
     /** Change between simulation steps; false may increase solver workload. */

package/dist/types/pipeline/step_profile.d.ts

@@ -1,6 +1,11 @@
+import type { ContactSoftness } from "../dynamics/integration_parameters";
 import type { World, ContactConvergenceStats, FreeRotationStats, FreeAssemblyStats } from "./world";
 import type { EventQueue } from "./event_queue";
 import type { PhysicsHooks } from "./physics_hooks";
+export interface PhysicsContactSettings {
+    contactSoftness: ContactSoftness;
+    staticContactSoftness: ContactSoftness;
+}
 export interface PhysicsStepSample {
     /** Zero-based index among calls made through this recorder. */
     step: number;
@@ -12,6 +17,8 @@ export interface PhysicsStepSample {
         lengthUnit: number;
         timestep: number;
         solverIterations: number;
+        /** Index into the owning profile's bounded contactSettings table. */
+        contactSettingsIndex: number;
         ccdSubsteps: number;
         timings: {
             stepMs: number;
@@ -43,6 +50,8 @@ export interface PhysicsStepProfile {
     samplesOmittedForBudget: number;
     /** Owned bounded samples. They do not estimate all unsampled native phases. */
     samples: PhysicsStepSample[];
+    /** Distinct numerical settings, at most one entry per retained sample. */
+    contactSettings: PhysicsContactSettings[];
 }
 export interface PhysicsStepProfileOptions {
     /** Capture every Nth managed call, default 32; integer 1..1,000,000. */

package/dist/types/rapier_wasm3d.d.ts

@@ -704,7 +704,16 @@ export class RawImpulseJointSet {
 export class RawIntegrationParameters {
     free(): void;
     [Symbol.dispose](): void;
+    contactDampingRatio(fixed: boolean): number;
+    /**
+     * Existing native spring settings; static contacts have their own coefficients.
+     */
+    contactNaturalFrequency(fixed: boolean): number;
     constructor();
+    /**
+     * Validate both values before changing either coefficient.
+     */
+    setContactSoftness(fixed: boolean, frequency: number, damping: number): void;
     contactClustering: boolean;
     contactRecycling: boolean;
     readonly contact_erp: number;
@@ -2311,6 +2320,8 @@ export interface InitOutput {
     readonly rawimpulsejointset_new: () => number;
     readonly rawimpulsejointset_remove: (a: number, b: number, c: number) => void;
     readonly rawintegrationparameters_contactClustering: (a: number) => number;
+    readonly rawintegrationparameters_contactDampingRatio: (a: number, b: number) => number;
+    readonly rawintegrationparameters_contactNaturalFrequency: (a: number, b: number) => number;
     readonly rawintegrationparameters_contactRecycling: (a: number) => number;
     readonly rawintegrationparameters_contact_erp: (a: number) => number;
     readonly rawintegrationparameters_dt: (a: number) => number;
@@ -2323,6 +2334,7 @@ export interface InitOutput {
     readonly rawintegrationparameters_normalizedPredictionDistance: (a: number) => number;
     readonly rawintegrationparameters_numInternalPgsIterations: (a: number) => number;
     readonly rawintegrationparameters_numSolverIterations: (a: number) => number;
+    readonly rawintegrationparameters_setContactSoftness: (a: number, b: number, c: number, d: number, e: number) => void;
     readonly rawintegrationparameters_set_contactClustering: (a: number, b: number) => void;
     readonly rawintegrationparameters_set_contactRecycling: (a: number, b: number) => void;
     readonly rawintegrationparameters_set_contact_natural_frequency: (a: number, b: number) => void;

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@absolutejs/rapier3d",
-  "version": "0.17.0",
+  "version": "0.18.0",
   "description": "Rapier 3D with matched free-body rotation, corrected contact witnesses and solver diagnostics",
   "type": "module",
   "license": "Apache-2.0",