@aura3d/engine 2.0.3 → 3.0.0

package/dist/physics/CollisionVolumes.js

@@ -195,6 +195,93 @@ function defaultDebugColor(kind) {
             return "#facc15";
     }
 }
+export function topologyVolume(kind, descriptor) {
+    validateHalfExtents(descriptor.halfExtents, `${kind} halfExtents`);
+    if (descriptor.progress !== undefined && (!Number.isFinite(descriptor.progress) || descriptor.progress < 0 || descriptor.progress > 1)) {
+        throw new Error(`${kind} progress must be a finite number in [0, 1], got ${descriptor.progress}.`);
+    }
+    const volume = {
+        id: descriptor.id ?? kind,
+        kind,
+        offset: cloneVec3(descriptor.offset ?? [0, 0, 0]),
+        halfExtents: cloneVec3(descriptor.halfExtents),
+        enabled: descriptor.enabled ?? true,
+        tags: [...(descriptor.tags ?? [])],
+        ...(descriptor.progress === undefined ? {} : { progress: descriptor.progress }),
+        ...(descriptor.metadata === undefined ? {} : { metadata: { ...descriptor.metadata } })
+    };
+    validateFiniteVec3(volume.offset, `${kind} offset`);
+    return volume;
+}
+export function checkpointVolume(descriptor) {
+    return topologyVolume("checkpoint", descriptor);
+}
+export function trackSegmentVolume(descriptor) {
+    return topologyVolume("track-segment", descriptor);
+}
+export function platformSurfaceVolume(descriptor) {
+    return topologyVolume("platform-surface", descriptor);
+}
+export function hazardZoneVolume(descriptor) {
+    return topologyVolume("hazard-zone", descriptor);
+}
+export function spawnZoneVolume(descriptor) {
+    return topologyVolume("spawn-zone", descriptor);
+}
+export function triggerZoneVolume(descriptor) {
+    return topologyVolume("trigger-zone", descriptor);
+}
+export function resolveTopologyVolume(volume, originPosition) {
+    validateFiniteVec3(originPosition, "topology origin position");
+    const center = [
+        originPosition[0] + volume.offset[0],
+        originPosition[1] + volume.offset[1],
+        originPosition[2] + volume.offset[2]
+    ];
+    return { ...volume, offset: cloneVec3(volume.offset), halfExtents: cloneVec3(volume.halfExtents), tags: [...volume.tags], center, bounds: aabbFromCenter(center, volume.halfExtents) };
+}
+export function overlapsTopology(a, b) {
+    if (!a.enabled || !b.enabled)
+        return false;
+    return overlapsAabb(a.bounds, b.bounds);
+}
+export function topologyPenetration(a, b) {
+    if (!a.enabled || !b.enabled)
+        return null;
+    return aabbPenetration(a.bounds, b.bounds);
+}
+export function topologyVolumeDebugColor(kind) {
+    switch (kind) {
+        case "checkpoint":
+            return "#38bdf8";
+        case "track-segment":
+            return "#a78bfa";
+        case "platform-surface":
+            return "#22c55e";
+        case "hazard-zone":
+            return "#ef4444";
+        case "spawn-zone":
+            return "#facc15";
+        case "trigger-zone":
+            return "#fb923c";
+    }
+}
+export function topologyVolumeDebugDescriptors(volumes, originPosition) {
+    return volumes
+        .filter((volume) => volume.enabled)
+        .map((volume) => {
+        const resolved = resolveTopologyVolume(volume, originPosition);
+        return {
+            id: resolved.id,
+            kind: resolved.kind,
+            center: resolved.center,
+            halfExtents: resolved.halfExtents,
+            color: topologyVolumeDebugColor(resolved.kind),
+            opacity: 0.28,
+            label: `${resolved.kind}:${resolved.id}`
+        };
+    });
+}
 function volumeKey(volume) {
     const owner = volume.ownerId === undefined ? "none" : String(volume.ownerId);
     return `${owner}/${volume.kind}/${volume.id}`;

package/dist/physics/CollisionVolumes.js.map

@@ -1 +1 @@
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package/dist/physics/PhysicsDebugDraw.d.ts

@@ -22,6 +22,12 @@ export type DebugRaycast = {
     readonly hit?: boolean;
 };
 export type PhysicsDebugDrawOptions = {
+    /**
+     * Master toggle. `false` emits zero lines (the route hides the overlay without
+     * tearing down the world or the draw call that consumes the lines).
+     * Defaults to `true` so the existing single-argument call is unchanged.
+     */
+    readonly enabled?: boolean;
     /** Draw contact points and their normals. */
     readonly contacts?: boolean;
     /** Draw joint anchors and the segment between them. */
@@ -32,6 +38,30 @@ export type PhysicsDebugDrawOptions = {
     readonly raycasts?: readonly DebugRaycast[];
     /** Length of a drawn contact normal, in world units. */
     readonly normalLength?: number;
+    /**
+     * Line budget. When the world would emit more lines than this, the tail is
+     * dropped and counted in telemetry instead of stalling the frame on debug
+     * geometry. Must be a non-negative integer when present.
+     */
+    readonly maxLines?: number;
+};
+/** Per-build accounting for a budgeted debug draw, so a route can prove the overlay stayed within budget. */
+export type PhysicsDebugDrawTelemetry = {
+    /** Lines the world would have emitted without a budget. */
+    readonly requested: number;
+    /** Lines actually returned. */
+    readonly emitted: number;
+    /** Lines dropped by the budget (`requested - emitted`). */
+    readonly dropped: number;
+    /** True when a `maxLines` budget was applied. */
+    readonly budgeted: boolean;
+    /** Emitted line counts by category. */
+    readonly byCategory: Readonly<Record<string, number>>;
+};
+/** Lines plus the telemetry proving they fit the budget. */
+export type PhysicsDebugDrawBudgetedResult = {
+    readonly lines: readonly DebugLine[];
+    readonly telemetry: PhysicsDebugDrawTelemetry;
 };
 type DebugWorld = Pick<PhysicsWorld, "colliders" | "getBody"> & Partial<Pick<PhysicsWorld, "snapshot" | "constraints">>;
 export declare class PhysicsDebugDraw {
@@ -45,6 +75,13 @@ export declare class PhysicsDebugDraw {
      * Options default to off so the existing single-argument call keeps its previous output exactly.
      */
     buildLines(world: DebugWorld, options?: PhysicsDebugDrawOptions): readonly DebugLine[];
+    /**
+     * Build debug geometry with toggle + budget enforcement and telemetry.
+     *
+     * `enabled: false` returns zero lines (toggle off). `maxLines` truncates the
+     * tail and reports the drop count — the overlay degrades instead of the frame.
+     */
+    buildLinesBudgeted(world: DebugWorld, options?: PhysicsDebugDrawOptions): PhysicsDebugDrawBudgetedResult;
 }
 export {};
 //# sourceMappingURL=PhysicsDebugDraw.d.ts.map

package/dist/physics/PhysicsDebugDraw.d.ts.map

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+{"version":3,"file":"PhysicsDebugDraw.d.ts","sourceRoot":"","sources":["../../../../packages/physics/src/PhysicsDebugDraw.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,mBAAmB,CAAC;AACtD,OAAO,KAAK,EAAE,IAAI,EAAE,MAAM,YAAY,CAAC;AAEvC,MAAM,MAAM,SAAS,GAAG;IACtB,QAAQ,CAAC,IAAI,EAAE,IAAI,CAAC;IACpB,QAAQ,CAAC,EAAE,EAAE,IAAI,CAAC;IAClB,QAAQ,CAAC,KAAK,EAAE,IAAI,CAAC;IACrB;;;;;OAKG;IACH,QAAQ,CAAC,QAAQ,CAAC,EAAE,iBAAiB,CAAC;CACvC,CAAC;AAEF,MAAM,MAAM,iBAAiB,GACzB,UAAU,GACV,QAAQ,GACR,SAAS,GACT,QAAQ,GACR,OAAO,GACP,UAAU,GACV,SAAS,CAAC;AAEd,yFAAyF;AACzF,MAAM,MAAM,YAAY,GAAG;IACzB,QAAQ,CAAC,MAAM,EAAE,IAAI,CAAC;IACtB,QAAQ,CAAC,SAAS,EAAE,IAAI,CAAC;IACzB,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,oEAAoE;IACpE,QAAQ,CAAC,GAAG,CAAC,EAAE,OAAO,CAAC;CACxB,CAAC;AAEF,MAAM,MAAM,uBAAuB,GAAG;IACpC;;;;OAIG;IACH,QAAQ,CAAC,OAAO,CAAC,EAAE,OAAO,CAAC;IAC3B,6CAA6C;IAC7C,QAAQ,CAAC,QAAQ,CAAC,EAAE,OAAO,CAAC;IAC5B,uDAAuD;IACvD,QAAQ,CAAC,MAAM,CAAC,EAAE,OAAO,CAAC;IAC1B,wDAAwD;IACxD,QAAQ,CAAC,QAAQ,CAAC,EAAE,OAAO,CAAC;IAC5B,kEAAkE;IAClE,QAAQ,CAAC,QAAQ,CAAC,EAAE,SAAS,YAAY,EAAE,CAAC;IAC5C,wDAAwD;IACxD,QAAQ,CAAC,YAAY,CAAC,EAAE,MAAM,CAAC;IAC/B;;;;OAIG;IACH,QAAQ,CAAC,QAAQ,CAAC,EAAE,MAAM,CAAC;CAC5B,CAAC;AAEF,6GAA6G;AAC7G,MAAM,MAAM,yBAAyB,GAAG;IACtC,2DAA2D;IAC3D,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,+BAA+B;IAC/B,QAAQ,CAAC,OAAO,EAAE,MAAM,CAAC;IACzB,2DAA2D;IAC3D,QAAQ,CAAC,OAAO,EAAE,MAAM,CAAC;IACzB,iDAAiD;IACjD,QAAQ,CAAC,QAAQ,EAAE,OAAO,CAAC;IAC3B,uCAAuC;IACvC,QAAQ,CAAC,UAAU,EAAE,QAAQ,CAAC,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC,CAAC,CAAC;CACvD,CAAC;AAEF,4DAA4D;AAC5D,MAAM,MAAM,8BAA8B,GAAG;IAC3C,QAAQ,CAAC,KAAK,EAAE,SAAS,SAAS,EAAE,CAAC;IACrC,QAAQ,CAAC,SAAS,EAAE,yBAAyB,CAAC;CAC/C,CAAC;AAEF,KAAK,UAAU,GAAG,IAAI,CAAC,YAAY,EAAE,WAAW,GAAG,SAAS,CAAC,GAC3D,OAAO,CAAC,IAAI,CAAC,YAAY,EAAE,UAAU,GAAG,aAAa,CAAC,CAAC,CAAC;AAE1D,qBAAa,gBAAgB;IAC3B;;;;;;;;OAQG;IACH,UAAU,CAAC,KAAK,EAAE,UAAU,EAAE,OAAO,GAAE,uBAA4B,GAAG,SAAS,SAAS,EAAE;IAI1F;;;;;OAKG;IACH,kBAAkB,CAAC,KAAK,EAAE,UAAU,EAAE,OAAO,GAAE,uBAA4B,GAAG,8BAA8B;CAmG7G"}

package/dist/physics/PhysicsDebugDraw.js

@@ -9,6 +9,26 @@ export class PhysicsDebugDraw {
      * Options default to off so the existing single-argument call keeps its previous output exactly.
      */
     buildLines(world, options = {}) {
+        return this.buildLinesBudgeted(world, options).lines;
+    }
+    /**
+     * Build debug geometry with toggle + budget enforcement and telemetry.
+     *
+     * `enabled: false` returns zero lines (toggle off). `maxLines` truncates the
+     * tail and reports the drop count — the overlay degrades instead of the frame.
+     */
+    buildLinesBudgeted(world, options = {}) {
+        if (options.enabled === false) {
+            return {
+                lines: [],
+                telemetry: { requested: 0, emitted: 0, dropped: 0, budgeted: false, byCategory: {} }
+            };
+        }
+        if (options.maxLines !== undefined) {
+            if (!Number.isInteger(options.maxLines) || options.maxLines < 0) {
+                throw new Error(`PhysicsDebugDraw maxLines must be a non-negative integer, got ${options.maxLines}.`);
+            }
+        }
         const lines = [];
         const snapshot = options.contacts || options.sleeping ? world.snapshot?.() : undefined;
         const sleepingIds = new Set();
@@ -75,7 +95,24 @@ export class PhysicsDebugDraw {
                 category: "raycast"
             });
         }
-        return lines;
+        const requested = lines.length;
+        const budgeted = options.maxLines !== undefined;
+        const emitted = budgeted ? lines.slice(0, options.maxLines) : lines;
+        const byCategory = {};
+        for (const line of emitted) {
+            const key = line.category ?? "uncategorized";
+            byCategory[key] = (byCategory[key] ?? 0) + 1;
+        }
+        return {
+            lines: emitted,
+            telemetry: {
+                requested,
+                emitted: emitted.length,
+                dropped: requested - emitted.length,
+                budgeted,
+                byCategory
+            }
+        };
     }
 }
 function appendColliderLines(lines, collider, position, sleeping = false) {

package/dist/physics/PhysicsDebugDraw.js.map

@@ -1 +1 @@
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package/dist/physics/PhysicsWorld.d.ts

@@ -43,6 +43,17 @@ export type PhysicsWorldDescriptor = {
     readonly fixedDelta?: number;
     readonly solverIterations?: number;
     readonly enableSleeping?: boolean;
+    /**
+     * Repeatability seed (H1 promotion).
+     *
+     * Rapier stepping is deterministic for an identical descriptor + fixed-dt call
+     * sequence, so the seed carries no hidden RNG branch: it is recorded provenance,
+     * reported in every snapshot backend selection, and the repeatability contract is
+     * "same seed + same descriptors + same step calls ⇒ identical snapshots", pinned
+     * by `h1-root-promotions.test.ts`. Pass a seed whenever a test or replay needs to
+     * name the run it is reproducing.
+     */
+    readonly seed?: number;
     /** @deprecated Rapier owns its native sleep thresholds. Retained for source compatibility. */
     readonly sleepVelocityThreshold?: number;
     /** @deprecated Rapier owns its native sleep delay. Retained for source compatibility. */
@@ -70,6 +81,8 @@ export type PhysicsBackendSelection = {
     readonly active: PhysicsBackend;
     readonly deterministic: boolean;
     readonly continuousCollision: PhysicsContinuousCollisionSelection;
+    /** The repeatability seed from the world descriptor, when one was supplied. */
+    readonly seed?: number;
 };
 export type PhysicsStepStats = {
     readonly steps: number;
@@ -108,6 +121,8 @@ export declare class PhysicsWorld {
     private readonly requestedBackend;
     private backendSelection;
     private readonly rapierWorld;
+    /** Repeatability seed from the descriptor. Recorded provenance; see the field docs. */
+    readonly seed?: number;
     private readonly rapierBodiesByAuraId;
     private readonly rapierCollidersByAuraId;
     private readonly rapierJointsByConstraint;

package/dist/physics/PhysicsWorld.d.ts.map

@@ -1 +1 @@
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package/dist/physics/PhysicsWorld.js

@@ -20,6 +20,8 @@ export class PhysicsWorld {
     requestedBackend;
     backendSelection;
     rapierWorld;
+    /** Repeatability seed from the descriptor. Recorded provenance; see the field docs. */
+    seed;
     rapierBodiesByAuraId = new Map();
     rapierCollidersByAuraId = new Map();
     rapierJointsByConstraint = new Map();
@@ -50,6 +52,10 @@ export class PhysicsWorld {
         if (descriptor.sleepDelay !== undefined && (!Number.isFinite(descriptor.sleepDelay) || descriptor.sleepDelay < 0)) {
             throw new Error("sleepDelay must be finite and non-negative.");
         }
+        if (descriptor.seed !== undefined && (!Number.isFinite(descriptor.seed) || !Number.isInteger(descriptor.seed))) {
+            throw new Error("seed must be a finite integer when supplied.");
+        }
+        this.seed = descriptor.seed;
         if (this.requestedBackend !== "auto" && this.requestedBackend !== "rapier") {
             // Reached from JavaScript callers and from code compiled against 1.5.x, where
             // `"aura-js"` was a selectable backend. Failing loudly is the point: the previous
@@ -63,7 +69,8 @@ export class PhysicsWorld {
             requested: this.requestedBackend,
             active: "rapier",
             deterministic: true,
-            continuousCollision: this.continuousCollisionSelection(true)
+            continuousCollision: this.continuousCollisionSelection(true),
+            ...(this.seed === undefined ? {} : { seed: this.seed })
         };
         this.rapierWorld = createRapierPhysicsSync({ gravity: this.gravity });
         this.rapierWorld.unsafeRapierWorld().integrationParameters.numSolverIterations = this.solverIterations;

package/dist/physics/PhysicsWorld.js.map

@@ -1 +1 @@
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package/dist/physics/solverless.d.ts

@@ -29,7 +29,7 @@ export type { PhysicsStepperResult } from "./PhysicsStepper.js";
 export { ScenePhysicsBridge } from "./ScenePhysicsBridge.js";
 export type { ScenePhysicsBinding, ScenePhysicsNode } from "./ScenePhysicsBridge.js";
 export { PhysicsDebugDraw } from "./PhysicsDebugDraw.js";
-export type { DebugLine } from "./PhysicsDebugDraw.js";
+export type { DebugLine, DebugLineCategory, PhysicsDebugDrawBudgetedResult, PhysicsDebugDrawOptions, PhysicsDebugDrawTelemetry } from "./PhysicsDebugDraw.js";
 export { buildMeshBVH, raycastMesh, raycastMeshBruteForce } from "./MeshBVH.js";
 export type { MeshBVH, MeshBVHBuildOptions, MeshRayHit, RaycastMeshOptions } from "./MeshBVH.js";
 export { createMeshSurfaceQuery } from "./SurfaceQuery.js";

package/dist/physics/solverless.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"solverless.d.ts","sourceRoot":"","sources":["../../../../packages/physics/src/solverless.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;GAsBG;AACH,OAAO,EAAE,KAAK,EAAE,MAAM,YAAY,CAAC;AACnC,YAAY,EAAE,QAAQ,EAAE,MAAM,EAAE,YAAY,EAAE,eAAe,EAAE,gBAAgB,EAAE,SAAS,EAAE,YAAY,EAAE,UAAU,EAAE,WAAW,EAAE,IAAI,EAAE,MAAM,YAAY,CAAC;AAC5J,OAAO,EAAE,OAAO,EAAE,IAAI,EAAE,MAAM,YAAY,CAAC;AAC3C,OAAO,EAAE,cAAc,EAAE,MAAM,qBAAqB,CAAC;AACrD,YAAY,EAAE,oBAAoB,EAAE,MAAM,qBAAqB,CAAC;AAChE,OAAO,EAAE,kBAAkB,EAAE,MAAM,yBAAyB,CAAC;AAC7D,YAAY,EAAE,mBAAmB,EAAE,gBAAgB,EAAE,MAAM,yBAAyB,CAAC;AACrF,OAAO,EAAE,gBAAgB,EAAE,MAAM,uBAAuB,CAAC;AACzD,YAAY,EAAE,SAAS,EAAE,MAAM,uBAAuB,CAAC;AAMvD,OAAO,EAAE,YAAY,EAAE,WAAW,EAAE,qBAAqB,EAAE,MAAM,cAAc,CAAC;AAChF,YAAY,EAAE,OAAO,EAAE,mBAAmB,EAAE,UAAU,EAAE,kBAAkB,EAAE,MAAM,cAAc,CAAC;AACjG,OAAO,EAAE,sBAAsB,EAAE,MAAM,mBAAmB,CAAC;AAC3D,YAAY,EAAE,gBAAgB,EAAE,uBAAuB,EAAE,aAAa,EAAE,MAAM,mBAAmB,CAAC"}
+{"version":3,"file":"solverless.d.ts","sourceRoot":"","sources":["../../../../packages/physics/src/solverless.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;GAsBG;AACH,OAAO,EAAE,KAAK,EAAE,MAAM,YAAY,CAAC;AACnC,YAAY,EAAE,QAAQ,EAAE,MAAM,EAAE,YAAY,EAAE,eAAe,EAAE,gBAAgB,EAAE,SAAS,EAAE,YAAY,EAAE,UAAU,EAAE,WAAW,EAAE,IAAI,EAAE,MAAM,YAAY,CAAC;AAC5J,OAAO,EAAE,OAAO,EAAE,IAAI,EAAE,MAAM,YAAY,CAAC;AAC3C,OAAO,EAAE,cAAc,EAAE,MAAM,qBAAqB,CAAC;AACrD,YAAY,EAAE,oBAAoB,EAAE,MAAM,qBAAqB,CAAC;AAChE,OAAO,EAAE,kBAAkB,EAAE,MAAM,yBAAyB,CAAC;AAC7D,YAAY,EAAE,mBAAmB,EAAE,gBAAgB,EAAE,MAAM,yBAAyB,CAAC;AACrF,OAAO,EAAE,gBAAgB,EAAE,MAAM,uBAAuB,CAAC;AACzD,YAAY,EACV,SAAS,EACT,iBAAiB,EACjB,8BAA8B,EAC9B,uBAAuB,EACvB,yBAAyB,EAC1B,MAAM,uBAAuB,CAAC;AAM/B,OAAO,EAAE,YAAY,EAAE,WAAW,EAAE,qBAAqB,EAAE,MAAM,cAAc,CAAC;AAChF,YAAY,EAAE,OAAO,EAAE,mBAAmB,EAAE,UAAU,EAAE,kBAAkB,EAAE,MAAM,cAAc,CAAC;AACjG,OAAO,EAAE,sBAAsB,EAAE,MAAM,mBAAmB,CAAC;AAC3D,YAAY,EAAE,gBAAgB,EAAE,uBAAuB,EAAE,aAAa,EAAE,MAAM,mBAAmB,CAAC"}

package/dist/physics/solverless.js.map

@@ -1 +1 @@
-{"version":3,"file":"solverless.js","sourceRoot":"","sources":["../../../../packages/physics/src/solverless.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;GAsBG;AACH,OAAO,EAAE,KAAK,EAAE,MAAM,YAAY,CAAC;AAEnC,OAAO,EAAE,OAAO,EAAE,IAAI,EAAE,MAAM,YAAY,CAAC;AAC3C,OAAO,EAAE,cAAc,EAAE,MAAM,qBAAqB,CAAC;AAErD,OAAO,EAAE,kBAAkB,EAAE,MAAM,yBAAyB,CAAC;AAE7D,OAAO,EAAE,gBAAgB,EAAE,MAAM,uBAAuB,CAAC;AAEzD;;;;GAIG;AACH,OAAO,EAAE,YAAY,EAAE,WAAW,EAAE,qBAAqB,EAAE,MAAM,cAAc,CAAC;AAEhF,OAAO,EAAE,sBAAsB,EAAE,MAAM,mBAAmB,CAAC"}
+{"version":3,"file":"solverless.js","sourceRoot":"","sources":["../../../../packages/physics/src/solverless.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;GAsBG;AACH,OAAO,EAAE,KAAK,EAAE,MAAM,YAAY,CAAC;AAEnC,OAAO,EAAE,OAAO,EAAE,IAAI,EAAE,MAAM,YAAY,CAAC;AAC3C,OAAO,EAAE,cAAc,EAAE,MAAM,qBAAqB,CAAC;AAErD,OAAO,EAAE,kBAAkB,EAAE,MAAM,yBAAyB,CAAC;AAE7D,OAAO,EAAE,gBAAgB,EAAE,MAAM,uBAAuB,CAAC;AAQzD;;;;GAIG;AACH,OAAO,EAAE,YAAY,EAAE,WAAW,EAAE,qBAAqB,EAAE,MAAM,cAAc,CAAC;AAEhF,OAAO,EAAE,sBAAsB,EAAE,MAAM,mBAAmB,CAAC"}

package/dist/physics-rapier/index.d.ts

@@ -53,7 +53,13 @@ export interface RapierColliderSpec {
 export interface RapierBodySpec extends RapierRigidBodySpec, RapierColliderSpec {
 }
 export type RapierJointSpec = {
-    readonly type: "fixed" | "hinge" | "slider" | "spring" | "ball-socket" | "motorised-hinge";
+    /**
+     * `revolute` is the Rapier-native name for `hinge`; `prismatic` is the
+     * Rapier-native name for `slider`. Both spellings are accepted and build the
+     * same native joint — the alias exists so H1's fixed/revolute/prismatic
+     * promotion reads identically at the adapter and at root.
+     */
+    readonly type: "fixed" | "hinge" | "revolute" | "slider" | "prismatic" | "spring" | "ball-socket" | "motorised-hinge";
     readonly localAnchorA: PhysicsVec3;
     readonly localAnchorB: PhysicsVec3;
     readonly axis: PhysicsVec3;