@absolutejs/rapier3d 0.9.0 → 0.10.0

package/README.md

@@ -282,3 +282,13 @@ changes the native default policy for newly created coordinates.
 For an explicitly undamped diagnostic, read the vector, replace it with a zero
 vector of the same length, and verify the readback. This is a diagnostic control,
 not a recommendation to remove damping from every game mechanism.
+
+## Coupled articulation impacts (0.10)
+
+Coupled contacts can disturb each other: a single late restitution sweep can leave order-dependent velocities when two bodies strike one light articulation. Version 0.10 repeats the existing normal/restitution solve to a projected velocity residual, with a bounded iteration budget. In these adaptive phases, a local double-precision normal-impulse accumulator retains corrections that would otherwise round away. Native velocities, response matrices, warmstart storage, persistent snapshots, and the JavaScript API retain their existing formats. This is not a double-precision engine or an energy clamp.
+
+Adaptive compression applies only to one-group, single-worker, generic-only frictionless contacts, with no soft/FEM bodies or independent joint rows. The configured PGS count remains a minimum; the cap is the larger of that count and 256. Adaptive restitution applies only to one-group, single-worker, generic-only contacts and is capped at 256 sweeps. Both stop at a projected velocity residual of `1e-6 * lengthUnit`. Ordinary and mixed/parallel contact paths retain their previous iteration policy. Reaching the cap is not a guarantee of convergence for arbitrary mass ratios or scenes.
+
+The added regression cases cover opposing impacts, creation-order reversal, restitution 0/0.5/1, unequal masses, timestep and substep changes. Existing integration, contact preparation, damping defaults and geometry are unchanged; known general articulation integration limitations remain.
+
+Accuracy has a CPU cost. A bounded CPU-only paired benchmark of 1/8/32 disconnected heavy-light-heavy impacts measured candidate median step times of 0.62/2.48/7.87 ms, versus 0.41/0.84/1.72 ms for 0.9.0, whose velocity error in that fixture was about 6.94 m/s. The candidate error was below 0.000002 m/s. These are host-specific step measurements excluding rendering and snapshot restoration, not a frame-rate guarantee. Production scenes still need physics budgets and profiling. Detailed qualification and limitations are in `absolutejs/research/contact-convergence/`.

package/absolutejs/README.md

@@ -282,3 +282,13 @@ changes the native default policy for newly created coordinates.
 For an explicitly undamped diagnostic, read the vector, replace it with a zero
 vector of the same length, and verify the readback. This is a diagnostic control,
 not a recommendation to remove damping from every game mechanism.
+
+## Coupled articulation impacts (0.10)
+
+Coupled contacts can disturb each other: a single late restitution sweep can leave order-dependent velocities when two bodies strike one light articulation. Version 0.10 repeats the existing normal/restitution solve to a projected velocity residual, with a bounded iteration budget. In these adaptive phases, a local double-precision normal-impulse accumulator retains corrections that would otherwise round away. Native velocities, response matrices, warmstart storage, persistent snapshots, and the JavaScript API retain their existing formats. This is not a double-precision engine or an energy clamp.
+
+Adaptive compression applies only to one-group, single-worker, generic-only frictionless contacts, with no soft/FEM bodies or independent joint rows. The configured PGS count remains a minimum; the cap is the larger of that count and 256. Adaptive restitution applies only to one-group, single-worker, generic-only contacts and is capped at 256 sweeps. Both stop at a projected velocity residual of `1e-6 * lengthUnit`. Ordinary and mixed/parallel contact paths retain their previous iteration policy. Reaching the cap is not a guarantee of convergence for arbitrary mass ratios or scenes.
+
+The added regression cases cover opposing impacts, creation-order reversal, restitution 0/0.5/1, unequal masses, timestep and substep changes. Existing integration, contact preparation, damping defaults and geometry are unchanged; known general articulation integration limitations remain.
+
+Accuracy has a CPU cost. A bounded CPU-only paired benchmark of 1/8/32 disconnected heavy-light-heavy impacts measured candidate median step times of 0.62/2.48/7.87 ms, versus 0.41/0.84/1.72 ms for 0.9.0, whose velocity error in that fixture was about 6.94 m/s. The candidate error was below 0.000002 m/s. These are host-specific step measurements excluding rendering and snapshot restoration, not a frame-rate guarantee. Production scenes still need physics budgets and profiling. Detailed qualification and limitations are in `absolutejs/research/contact-convergence/`.

package/dist/build-info.mjs

@@ -1 +1 @@
-var e=Object.freeze({schemaVersion:1,scope:"package",packageName:"@absolutejs/rapier3d",packageVersion:"0.9.0",qualifiedKernelRelease:"0.9.0",upstream:"b716d375efc0201003f0cd9ef7168eee0b62c177",engine:"0.36.0",collisionLibraryVersion:"0.31.1",collisionSource:"git+https://github.com/absolutejs/parry?rev=dbd99a8dfce020da3698056471262435d56d3f69#dbd99a8dfce020da3698056471262435d56d3f69",bindings:"0.21.0",bindgen:"0.2.129",wasmSha256:"f4e4606942e43e6af0ed2bed313005f9f4b89b0f716f569818e81742f77926ae",wasmBytes:3294044,solverChanges:!1});export{e as buildInfo};
+var e=Object.freeze({schemaVersion:1,scope:"package",packageName:"@absolutejs/rapier3d",packageVersion:"0.10.0",qualifiedKernelRelease:"0.10.0",upstream:"b716d375efc0201003f0cd9ef7168eee0b62c177",engine:"0.36.0",collisionLibraryVersion:"0.31.1",collisionSource:"git+https://github.com/absolutejs/parry?rev=dbd99a8dfce020da3698056471262435d56d3f69#dbd99a8dfce020da3698056471262435d56d3f69",bindings:"0.21.0",bindgen:"0.2.129",wasmSha256:"05237bc7c173763fc740d80f6440130e548743c02083542370f17bb3061bf1e3",wasmBytes:3297267,solverChanges:!0});export{e as buildInfo};

package/dist/provenance.json

@@ -2,15 +2,15 @@
   "schemaVersion": 1,
   "scope": "package",
   "packageName": "@absolutejs/rapier3d",
-  "packageVersion": "0.9.0",
-  "qualifiedKernelRelease": "0.9.0",
+  "packageVersion": "0.10.0",
+  "qualifiedKernelRelease": "0.10.0",
   "upstream": "b716d375efc0201003f0cd9ef7168eee0b62c177",
   "engine": "0.36.0",
   "collisionLibraryVersion": "0.31.1",
   "collisionSource": "git+https://github.com/absolutejs/parry?rev=dbd99a8dfce020da3698056471262435d56d3f69#dbd99a8dfce020da3698056471262435d56d3f69",
   "bindings": "0.21.0",
   "bindgen": "0.2.129",
-  "wasmSha256": "f4e4606942e43e6af0ed2bed313005f9f4b89b0f716f569818e81742f77926ae",
-  "wasmBytes": 3294044,
-  "solverChanges": false
+  "wasmSha256": "05237bc7c173763fc740d80f6440130e548743c02083542370f17bb3061bf1e3",
+  "wasmBytes": 3297267,
+  "solverChanges": true
 }