@absolutejs/rapier3d 0.18.0 → 0.21.1

package/README.md

@@ -637,3 +637,119 @@ 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.
+
+### Queued 0.19.0: explicit quadratic resistance
+
+`solveQuadraticDragImpulse` analytically integrates one quadratic relative-flow
+resistance channel with positive supplied effective inverse mass. It returns the
+signed impulse, implicit relative speed, dissipated energy and separate body /
+reservoir work. It is pure and does not infer shape, exposure or coefficients.
+Use consistent units and the complete effective mass response; verify native
+application precision. See `absolutejs/research/quadratic-drag-2026-10-31/README.md`
+for the derivation, scope and evidence. Native engine qualification stays 0.18.0.
+
+Default inertia-matrix getter results now own their six coefficients. Later
+native getters cannot overwrite a matrix already returned to the caller. Passing
+an explicit matrix target still reuses that target as documented.
+
+`solveQuadraticDragPatches` evaluates up to 4,096 explicit resistance patches in
+double precision at a fixed pose and returns combined linear/angular impulses.
+It reports body/reservoir work and dissipation, owns its outputs and preserves
+inputs. Free-body inverse mass/inertia and patch exposure are caller supplied;
+this is not an articulated-fluid or full CFD model. Patch order and timestep
+convergence remain measurable approximation limits.
+
+## Prepared solver schedules (0.20.0)
+
+The opt-in `world.solverSchedule()` query returns owned observations from the last
+completed profiled step. Like `ccdSubsteps()`, it returns `null` before such a
+step, when profiling is disabled or toggled, and after snapshot restoration.
+`createPhysicsStepProfiler` retains distinct owned records in `solverSchedules`, referenced by each
+sample's `native.solverScheduleIndex` (omitted means entry 0). The table is always
+present and cannot exceed the retained sample
+count; repeated observations do not repeat the full record.
+
+`groupVisits` counts prepared nonempty rigid-body solve groups across CCD passes.
+`rigidBodyVisits` sums their rigid-body slots, while `rigidBodySubsteps` weights
+those slots by each group's prepared substep count. These are visits, not unique
+body identities. `minSubsteps`/`maxSubsteps` report the group range;
+`minSubstepDt`/`maxSubstepDt` are durations in seconds. All four range fields are
+`null` when no nonempty rigid group was prepared. Soft-particle-only work and
+internal PGS sweeps are outside these counts.
+
+This reads the actual group layout, including additional iterations propagated
+through constraint-connected bodies. It does not change that layout, force
+sampling, native timestep or contact policy. It is not a per-body mapping, elapsed
+CPU timing, proof of force/energy accuracy, or forecast of the next step. In
+particular, a previous group's substep count must not silently select gameplay
+fluid-force timing when contact connectivity or CCD can change.
+
+The native observer is qualified by independent native builds and exact full-state
+comparisons across 18 fixtures / 9,240 steps against 0.19.0. Sampled local CPU
+costs and limits are recorded in `absolutejs/research/solver-schedule/`.
+The previous private artifacts remain archived; release availability is separate
+from source qualification.
+
+### Bounded diagnostic profile transport
+
+`encodePhysicsStepProfile(profile)` converts a readable report into an owned,
+versioned numeric packet. `decodePhysicsStepProfile(value)` validates an unknown
+packet and reconstructs owned readable observations. For example:
+
+```ts
+const packet = encodePhysicsStepProfile(profiler.snapshot());
+const restored = decodePhysicsStepProfile(JSON.parse(JSON.stringify(packet)));
+```
+
+The codec preserves every defined observation without rounding, including null
+measurements, failed samples, signed zero and explicit versus omitted default
+schedule references. It excludes arbitrary application metadata and user strings.
+The format tag is `absolutejs-physics-step-profile/1`; one fixed `'-0'` cell tag
+preserves signed zero through JSON. Arrays are bounded to 256 entries, tuple
+lengths and enums are fixed, and indices/scalars are validated. Malformed packets
+throw `TypeError`. This is transport validation, not a claim of native provenance
+or physical correctness. Apply normal metadata redaction outside the codec.
+
+Readable `PhysicsStepProfile` remains the simulation-facing API. In 0.20 its
+always-present `solverSchedules` table and optional sample index are part of that
+schema; older readable profiles without this table are not silently upgraded.
+Keep the format tag with stored packets and decode before displaying their fields.
+
+## Convex boundary export (0.21)
+
+`collider.convexMeshData()` returns an owned `{vertices: Float32Array,
+indices: Uint32Array}` pair from one native hull reconstruction. Use it when both
+buffers are needed; separate `vertices()` and `indices()` calls each reconstruct
+the hull. The query observes the current shape, so replacing a collider's shape
+requires no cache invalidation. Mutating returned arrays does not change the
+collider.
+
+```ts
+const mesh = collider.convexMeshData();
+if (mesh) {
+  // Positions are in collider-local coordinates; indices describe triangles.
+  uploadBoundary(mesh.vertices, mesh.indices);
+}
+```
+
+Nonconvex shapes return `undefined`. Rounded convex shapes return the inner
+polyhedron, excluding the round radius. The mesh is a reconstructed boundary of
+the stored Float32 points, not a copy of internal contact faces. Reconstruction
+uses double precision and exact-sign dimension checks for thin point clouds;
+returned positions remain original Float32 coordinates. It does not upgrade the
+physics engine's storage or solver to double precision. Boundary measurements
+and native mass measurements remain distinct; applications must continue to
+validate both.
+
+`buildInfo.convexExportPrecision` identifies this reconstruction as `float64`.
+The f32 and f64 collision-library dependencies use the same recorded source pin.
+Captured export, browser-worker, simulation-parity and CPU timing evidence lives
+in `absolutejs/research/convex-export/`. Release availability is separate from source qualification; publication may be
+deferred. The unchanged physical engine retains its existing settling limits.
+
+Version 0.21.1 reduces continuous-collision preparation work. Convex sweeps defer
+preparation until a candidate passes the existing filters and compute the same
+geometric centroid without an unused inertia calculation. CCD settings, shape
+geometry, collision filtering and solver arithmetic are unchanged. Qualification
+records include exact recorded-motion comparisons; this is not a frame-rate or
+universal latency guarantee.

package/absolutejs/README.md

@@ -637,3 +637,119 @@ 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.
+
+### Queued 0.19.0: explicit quadratic resistance
+
+`solveQuadraticDragImpulse` analytically integrates one quadratic relative-flow
+resistance channel with positive supplied effective inverse mass. It returns the
+signed impulse, implicit relative speed, dissipated energy and separate body /
+reservoir work. It is pure and does not infer shape, exposure or coefficients.
+Use consistent units and the complete effective mass response; verify native
+application precision. See `absolutejs/research/quadratic-drag-2026-10-31/README.md`
+for the derivation, scope and evidence. Native engine qualification stays 0.18.0.
+
+Default inertia-matrix getter results now own their six coefficients. Later
+native getters cannot overwrite a matrix already returned to the caller. Passing
+an explicit matrix target still reuses that target as documented.
+
+`solveQuadraticDragPatches` evaluates up to 4,096 explicit resistance patches in
+double precision at a fixed pose and returns combined linear/angular impulses.
+It reports body/reservoir work and dissipation, owns its outputs and preserves
+inputs. Free-body inverse mass/inertia and patch exposure are caller supplied;
+this is not an articulated-fluid or full CFD model. Patch order and timestep
+convergence remain measurable approximation limits.
+
+## Prepared solver schedules (0.20.0)
+
+The opt-in `world.solverSchedule()` query returns owned observations from the last
+completed profiled step. Like `ccdSubsteps()`, it returns `null` before such a
+step, when profiling is disabled or toggled, and after snapshot restoration.
+`createPhysicsStepProfiler` retains distinct owned records in `solverSchedules`, referenced by each
+sample's `native.solverScheduleIndex` (omitted means entry 0). The table is always
+present and cannot exceed the retained sample
+count; repeated observations do not repeat the full record.
+
+`groupVisits` counts prepared nonempty rigid-body solve groups across CCD passes.
+`rigidBodyVisits` sums their rigid-body slots, while `rigidBodySubsteps` weights
+those slots by each group's prepared substep count. These are visits, not unique
+body identities. `minSubsteps`/`maxSubsteps` report the group range;
+`minSubstepDt`/`maxSubstepDt` are durations in seconds. All four range fields are
+`null` when no nonempty rigid group was prepared. Soft-particle-only work and
+internal PGS sweeps are outside these counts.
+
+This reads the actual group layout, including additional iterations propagated
+through constraint-connected bodies. It does not change that layout, force
+sampling, native timestep or contact policy. It is not a per-body mapping, elapsed
+CPU timing, proof of force/energy accuracy, or forecast of the next step. In
+particular, a previous group's substep count must not silently select gameplay
+fluid-force timing when contact connectivity or CCD can change.
+
+The native observer is qualified by independent native builds and exact full-state
+comparisons across 18 fixtures / 9,240 steps against 0.19.0. Sampled local CPU
+costs and limits are recorded in `absolutejs/research/solver-schedule/`.
+The previous private artifacts remain archived; release availability is separate
+from source qualification.
+
+### Bounded diagnostic profile transport
+
+`encodePhysicsStepProfile(profile)` converts a readable report into an owned,
+versioned numeric packet. `decodePhysicsStepProfile(value)` validates an unknown
+packet and reconstructs owned readable observations. For example:
+
+```ts
+const packet = encodePhysicsStepProfile(profiler.snapshot());
+const restored = decodePhysicsStepProfile(JSON.parse(JSON.stringify(packet)));
+```
+
+The codec preserves every defined observation without rounding, including null
+measurements, failed samples, signed zero and explicit versus omitted default
+schedule references. It excludes arbitrary application metadata and user strings.
+The format tag is `absolutejs-physics-step-profile/1`; one fixed `'-0'` cell tag
+preserves signed zero through JSON. Arrays are bounded to 256 entries, tuple
+lengths and enums are fixed, and indices/scalars are validated. Malformed packets
+throw `TypeError`. This is transport validation, not a claim of native provenance
+or physical correctness. Apply normal metadata redaction outside the codec.
+
+Readable `PhysicsStepProfile` remains the simulation-facing API. In 0.20 its
+always-present `solverSchedules` table and optional sample index are part of that
+schema; older readable profiles without this table are not silently upgraded.
+Keep the format tag with stored packets and decode before displaying their fields.
+
+## Convex boundary export (0.21)
+
+`collider.convexMeshData()` returns an owned `{vertices: Float32Array,
+indices: Uint32Array}` pair from one native hull reconstruction. Use it when both
+buffers are needed; separate `vertices()` and `indices()` calls each reconstruct
+the hull. The query observes the current shape, so replacing a collider's shape
+requires no cache invalidation. Mutating returned arrays does not change the
+collider.
+
+```ts
+const mesh = collider.convexMeshData();
+if (mesh) {
+  // Positions are in collider-local coordinates; indices describe triangles.
+  uploadBoundary(mesh.vertices, mesh.indices);
+}
+```
+
+Nonconvex shapes return `undefined`. Rounded convex shapes return the inner
+polyhedron, excluding the round radius. The mesh is a reconstructed boundary of
+the stored Float32 points, not a copy of internal contact faces. Reconstruction
+uses double precision and exact-sign dimension checks for thin point clouds;
+returned positions remain original Float32 coordinates. It does not upgrade the
+physics engine's storage or solver to double precision. Boundary measurements
+and native mass measurements remain distinct; applications must continue to
+validate both.
+
+`buildInfo.convexExportPrecision` identifies this reconstruction as `float64`.
+The f32 and f64 collision-library dependencies use the same recorded source pin.
+Captured export, browser-worker, simulation-parity and CPU timing evidence lives
+in `absolutejs/research/convex-export/`. Release availability is separate from source qualification; publication may be
+deferred. The unchanged physical engine retains its existing settling limits.
+
+Version 0.21.1 reduces continuous-collision preparation work. Convex sweeps defer
+preparation until a candidate passes the existing filters and compute the same
+geometric centroid without an unused inertia calculation. CCD settings, shape
+geometry, collision filtering and solver arithmetic are unchanged. Qualification
+records include exact recorded-motion comparisons; this is not a frame-rate or
+universal latency guarantee.

package/dist/build-info.mjs

@@ -1 +1 @@
-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};
+var e=Object.freeze({schemaVersion:1,scope:"package",packageName:"@absolutejs/rapier3d",packageVersion:"0.21.1",qualifiedKernelRelease:"0.21.1",upstream:"b716d375efc0201003f0cd9ef7168eee0b62c177",engine:"0.36.0",collisionLibraryVersion:"0.31.1",collisionSource:"git+https://github.com/absolutejs/parry?rev=6afbe26a23a4d89903c6a33d0a0c0d98d9af7b72#6afbe26a23a4d89903c6a33d0a0c0d98d9af7b72",convexExportPrecision:"float64",bindings:"0.21.0",bindgen:"0.2.129",wasmSha256:"1d35b69d746eee6383401a68ec37d051391e0fa321096675b46c86072616e9d5",wasmBytes:3411729,solverChanges:!1});export{e as buildInfo};

package/dist/provenance.json

@@ -2,15 +2,16 @@
   "schemaVersion": 1,
   "scope": "package",
   "packageName": "@absolutejs/rapier3d",
-  "packageVersion": "0.18.0",
-  "qualifiedKernelRelease": "0.18.0",
+  "packageVersion": "0.21.1",
+  "qualifiedKernelRelease": "0.21.1",
   "upstream": "b716d375efc0201003f0cd9ef7168eee0b62c177",
   "engine": "0.36.0",
   "collisionLibraryVersion": "0.31.1",
-  "collisionSource": "git+https://github.com/absolutejs/parry?rev=53ac0b0b02767300da09d092d97cef53a975c947#53ac0b0b02767300da09d092d97cef53a975c947",
+  "collisionSource": "git+https://github.com/absolutejs/parry?rev=6afbe26a23a4d89903c6a33d0a0c0d98d9af7b72#6afbe26a23a4d89903c6a33d0a0c0d98d9af7b72",
+  "convexExportPrecision": "float64",
   "bindings": "0.21.0",
   "bindgen": "0.2.129",
-  "wasmSha256": "67e366a5151fd865f6e6fb154a8cb27a7c4073c19e51e0e594633cf07f6e956e",
-  "wasmBytes": 3363613,
-  "solverChanges": true
+  "wasmSha256": "1d35b69d746eee6383401a68ec37d051391e0fa321096675b46c86072616e9d5",
+  "wasmBytes": 3411729,
+  "solverChanges": false
 }