@absolutejs/rapier3d 0.2.1 → 0.4.0

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

@@ -11,6 +11,15 @@ export declare class IntegrationParameters {
     get contactClustering(): boolean;
     /** Change between simulation steps; false may increase solver workload. */
     set contactClustering(value: boolean);
+    /** Reuse nearby contact manifolds between updates. Default true; false increases narrow-phase work. */
+    get contactRecycling(): boolean;
+    set contactRecycling(value: boolean);
+    /** Relative-pose drift threshold, multiplied by lengthUnit. Default 0.05. Change between steps. */
+    get normalizedContactRecycleDistance(): number;
+    set normalizedContactRecycleDistance(value: number);
+    /** Fraction of cached impulses reused by the solver, in [0, 1]. Default 1. Change between steps. */
+    get warmstartCoefficient(): number;
+    set warmstartCoefficient(value: number);
     /** Minimum CCD substep duration in seconds; upstream default is 1/60/100. */
     get minCcdDt(): number;
     /** Change between steps. Very small values may introduce numerical instability. */

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

@@ -560,6 +560,14 @@ export declare class World {
      * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
      */
     get profilerEnabled(): boolean;
+    /**
+     * Actual CCD passes recorded by the last completed profiled step, not the
+     * configured maximum. Zero means CCD did not act; the world still advanced.
+     * Returns null before a profiled step, while profiling is disabled, and after
+     * changing profilerEnabled until another step completes. Profiling is opt-in.
+     * This count does not expose internal substep durations or time of impact.
+     */
+    ccdSubsteps(): number | null;
     /**
      * The time spent in milliseconds by the last step to run the entire simulation step.
      *

package/dist/types/rapier_wasm3d.d.ts

@@ -706,12 +706,14 @@ export class RawIntegrationParameters {
     [Symbol.dispose](): void;
     constructor();
     contactClustering: boolean;
+    contactRecycling: boolean;
     readonly contact_erp: number;
     dt: number;
     lengthUnit: number;
     maxCcdSubsteps: number;
     minCcdDt: number;
     normalizedAllowedLinearError: number;
+    normalizedContactRecycleDistance: number;
     normalizedPredictionDistance: number;
     numInternalPgsIterations: number;
     numSolverIterations: number;
@@ -723,6 +725,7 @@ export class RawIntegrationParameters {
     softBodiesMaxExtraSubsteps: number;
     softBodiesRecovery: RawSoftRecoverySettings;
     softBodiesResweepStrain: number;
+    warmstartCoefficient: number;
 }
 
 export class RawIslandManager {
@@ -883,6 +886,7 @@ export class RawNarrowPhase {
 export class RawPhysicsPipeline {
     free(): void;
     [Symbol.dispose](): void;
+    ccd_substeps(): number | undefined;
     is_profiler_enabled(): boolean;
     constructor();
     set_profiler_enabled(enabled: boolean): void;
@@ -2296,6 +2300,7 @@ 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_contactRecycling: (a: number) => number;
     readonly rawintegrationparameters_contact_erp: (a: number) => number;
     readonly rawintegrationparameters_dt: (a: number) => number;
     readonly rawintegrationparameters_lengthUnit: (a: number) => number;
@@ -2303,16 +2308,19 @@ export interface InitOutput {
     readonly rawintegrationparameters_minCcdDt: (a: number) => number;
     readonly rawintegrationparameters_new: () => number;
     readonly rawintegrationparameters_normalizedAllowedLinearError: (a: number) => number;
+    readonly rawintegrationparameters_normalizedContactRecycleDistance: (a: number) => number;
     readonly rawintegrationparameters_normalizedPredictionDistance: (a: number) => number;
     readonly rawintegrationparameters_numInternalPgsIterations: (a: number) => number;
     readonly rawintegrationparameters_numSolverIterations: (a: number) => number;
     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;
     readonly rawintegrationparameters_set_dt: (a: number, b: number) => void;
     readonly rawintegrationparameters_set_lengthUnit: (a: number, b: number) => void;
     readonly rawintegrationparameters_set_maxCcdSubsteps: (a: number, b: number) => void;
     readonly rawintegrationparameters_set_minCcdDt: (a: number, b: number) => void;
     readonly rawintegrationparameters_set_normalizedAllowedLinearError: (a: number, b: number) => void;
+    readonly rawintegrationparameters_set_normalizedContactRecycleDistance: (a: number, b: number) => void;
     readonly rawintegrationparameters_set_normalizedPredictionDistance: (a: number, b: number) => void;
     readonly rawintegrationparameters_set_numInternalPgsIterations: (a: number, b: number) => void;
     readonly rawintegrationparameters_set_numSolverIterations: (a: number, b: number) => void;
@@ -2323,6 +2331,7 @@ export interface InitOutput {
     readonly rawintegrationparameters_set_softBodiesMaxExtraSubsteps: (a: number, b: number) => void;
     readonly rawintegrationparameters_set_softBodiesRecovery: (a: number, b: number) => void;
     readonly rawintegrationparameters_set_softBodiesResweepStrain: (a: number, b: number) => void;
+    readonly rawintegrationparameters_set_warmstartCoefficient: (a: number, b: number) => void;
     readonly rawintegrationparameters_softBodiesContactStiffening: (a: number) => number;
     readonly rawintegrationparameters_softBodiesFemLinearTolerance: (a: number) => number;
     readonly rawintegrationparameters_softBodiesFemMaxDenseDofs: (a: number) => number;
@@ -2330,6 +2339,7 @@ export interface InitOutput {
     readonly rawintegrationparameters_softBodiesMaxExtraSubsteps: (a: number) => number;
     readonly rawintegrationparameters_softBodiesRecovery: (a: number) => number;
     readonly rawintegrationparameters_softBodiesResweepStrain: (a: number) => number;
+    readonly rawintegrationparameters_warmstartCoefficient: (a: number) => number;
     readonly rawislandmanager_forEachActiveRigidBodyHandle: (a: number, b: number) => void;
     readonly rawislandmanager_new: () => number;
     readonly rawkinematiccharactercontroller_autostepEnabled: (a: number) => number;
@@ -2381,6 +2391,7 @@ export interface InitOutput {
     readonly rawnarrowphase_intersection_pair: (a: number, b: number, c: number) => number;
     readonly rawnarrowphase_intersection_pairs_with: (a: number, b: number, c: number) => void;
     readonly rawnarrowphase_new: () => number;
+    readonly rawphysicspipeline_ccd_substeps: (a: number) => number;
     readonly rawphysicspipeline_is_profiler_enabled: (a: number) => number;
     readonly rawphysicspipeline_new: () => number;
     readonly rawphysicspipeline_set_profiler_enabled: (a: number, b: number) => void;

package/package.json

@@ -1,7 +1,7 @@
 {
   "name": "@absolutejs/rapier3d",
-  "version": "0.2.1",
-  "description": "Rapier 3D with separate geometric and clustered solver-contact inspection",
+  "version": "0.4.0",
+  "description": "Rapier 3D with solver-contact diagnostics and validated contact-policy controls",
   "type": "module",
   "license": "Apache-2.0",
   "repository": {