@absolutejs/rapier3d 0.3.0 → 0.5.0

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/geometry/collider.d.ts

@@ -632,6 +632,23 @@ export declare class Collider {
      * @returns `null` if the shapes are separated by a distance greater than prediction, otherwise contact details. The result is given in world-space.
      */
     contactCollider(collider2: Collider, prediction: number, target?: ShapeContact): ShapeContact | null;
+    /**
+     * Queries the two native shapes at their current parent-body poses without stepping
+     * the world or propagating body poses into the collider set. Includes each collider's
+     * local translation and rotation; parentless colliders use their stored world pose.
+     *
+     * Useful for explicit diagnostics after body edits, when contactCollider and stored
+     * manifolds may still refer to the previous collider poses. This is an allocating shape
+     * query, not a solver contact, continuous sweep, or authored-material penetration bound.
+     * Collision filters, hooks, and contact skin are not applied. The result is world-space.
+     * A null result can also indicate an unsupported native shape pair; it is not a proof
+     * that arbitrary compound or authored material is disjoint.
+     *
+     * @param prediction - Finite nonnegative prediction distance in world length units.
+     * @param target - Optional reusable result object.
+     */
+    contactColliderAtCurrentBodyPoses(collider2: Collider, prediction?: number, target?: ShapeContact): ShapeContact | null;
+    private currentBodyPose;
     /**
      * Find the closest intersection between a ray and this collider.
      *

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 {
@@ -2297,6 +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;
@@ -2304,16 +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;
@@ -2324,6 +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;
@@ -2331,6 +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;

package/package.json

@@ -1,7 +1,7 @@
 {
   "name": "@absolutejs/rapier3d",
-  "version": "0.3.0",
-  "description": "Rapier 3D with separate geometric and clustered solver-contact inspection",
+  "version": "0.5.0",
+  "description": "Rapier 3D with current-body shape queries and solver-contact diagnostics",
   "type": "module",
   "license": "Apache-2.0",
   "repository": {