@absolutejs/rapier3d 0.3.0 → 0.5.0

package/absolutejs/README.md

@@ -110,3 +110,51 @@ across all passes in a step. The TOI timer also accumulates instead of resetting
 for every clamp pass. Both are recorded only with profiling enabled. The timing
 fix leaves contact equations and trajectories unchanged; package tests compare
 profiled/unprofiled poses and official upstream trajectories.
+
+## Contact policy controls (0.4)
+
+The following existing native settings are now exposed through
+`world.integrationParameters`. Defaults and solver algorithms are unchanged.
+
+| Property | Default | Meaning |
+| --- | --- | --- |
+| `contactRecycling` | `true` | Reuse contact manifolds while relative poses stay within the native reuse bounds. |
+| `normalizedContactRecycleDistance` | `0.05` | Relative-pose drift bound, multiplied by `lengthUnit`; zero prevents recycling. |
+| `warmstartCoefficient` | `1` | Fraction of cached impulses reused by the solver, from zero to one. |
+
+Change settings between simulation steps. The boolean setter rejects coercible
+non-booleans; numeric setters reject non-finite/out-of-range input, including f32
+overflow for the distance. Native snapshots preserve all three settings.
+
+These controls support explicit diagnosis and application-specific qualification.
+Disabling recycling increases contact-generation work and can change contact
+features; disabling warm starting changes convergence. Neither is a general fix
+for penetration. Evaluate the entire requested simulation horizon and geometric
+intersections, alongside live/cached contact diagnostics. A process that exits
+successfully after an early physical guard is not a completed physical test.
+
+
+## Current-body shape contact queries (0.5.0)
+
+```ts
+const contact = firstCollider.contactColliderAtCurrentBodyPoses(secondCollider, 0);
+```
+
+This additive query composes each collider's local pose with its current parent
+body pose. It observes direct body edits before the next world step without
+propagating poses, stepping the simulation, or altering cached solver contacts.
+Parentless colliders use their own world pose. The optional third argument reuses
+a `ShapeContact` result. Prediction must be finite and nonnegative, in world units.
+
+Use this for bounded explicit diagnostics, not every render/physics tick. It
+allocates shape queries and returns a world-space native shape contact, not a
+solver manifold, continuous sweep or authored-material overlap bound. Collision
+filters, hooks and contact skin are not applied. Native unsupported shape pairs
+can return null as well as separated pairs; null is not a general disjointness
+proof. Existing `contactCollider` retains its stored-collider-pose semantics.
+
+The distinction matters for rotating contacts: projecting current anchors onto a
+stored normal can report no penetration while a fresh shape query finds overlap.
+Both observations are useful, but answer different questions. Release 0.5.0 keeps
+the 0.4.0 native kernel byte-for-byte unchanged; it does not include the private
+relative-motion, EPA or clamp-graph solver experiments.

package/dist/provenance.json

@@ -3,8 +3,8 @@
   "engine": "0.36.0",
   "bindings": "0.21.0",
   "bindgen": "0.2.129",
-  "wasmSha256": "82c8735acd1b112c2d1368c8e46c91ce46a87e3d941b1a8d2fe11d46a8acbd3a",
-  "wasmBytes": 3298797,
+  "wasmSha256": "65ebc43d69dc3b4b290b29ca30ff44955711c8002799503749bcc03060783b39",
+  "wasmBytes": 3299287,
   "solverChanges": false,
-  "addition": "Live contacts, fresh CCD pass counts, and aggregate CCD/TOI timing repair"
+  "addition": "Current-body-pose shape contact query; validated contact policy and CCD diagnostics; native kernel unchanged"
 }