@aura3d/physics-rapier 2.0.0

package/README.md

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+# @aura3d/physics-rapier
+
+Optional physical simulation for Aura3D, backed by exact
+`@dimforge/rapier3d-compat@0.20.0`. The package is asynchronous and optional.
+The compat build is selected because it is portable across the supported
+bundlers without requiring each application to configure a raw-WASM loader; its
+larger lazy payload is disclosed by the retained bundle report.
+
+It is deliberately absent from core, product, and authored-unit arcade bundles.
+Install and initialize it only for physical rigid bodies, joints, queries,
+character collision, or raycast vehicles:
+
+```ts
+import { createRapierPhysics } from "@aura3d/physics-rapier";
+
+const physics = await createRapierPhysics({ gravity: [0, -9.81, 0] });
+const floor = physics.createBody({ type: "fixed", shape: { kind: "box", halfExtents: [10, 0.5, 10] } });
+const ball = physics.createBody({ position: [0, 4, 0], shape: { kind: "sphere", radius: 0.5 } });
+physics.step(1 / 60);
+physics.dispose();
+```
+
+This is physical simulation. `game.racing` and the default authored-unit arcade
+helpers remain separate and do not claim physical tyre, mass, or force semantics.
+
+## Public API
+
+- `createRapierPhysics(options?)` lazily initializes Rapier and returns the sole
+  Aura3D-owned physical-world adapter.
+- `RapierPhysics` owns rigid bodies, colliders, stepping, ray queries, fixed
+  joints, native character controllers, native vehicle controllers, and final
+  disposal.
+- `RapierBody` exposes explicit transform, velocity, impulse, and removal
+  operations without hiding Rapier's authored-unit physical semantics.
+- `rawModule` and `rawWorld` are documented escape hatches for unsupported
+  Rapier features; no private import is required.
+
+## Verification
+
+Run `pnpm exec vitest run tests/unit/physics-rapier` for adapter and dependency-
+boundary coverage. Run `pnpm exec playwright test
+tests/browser/optional-rapier-physics.spec.ts` for cold/cached initialization,
+browser queries/controllers, repeated disposal, and console-error evidence.

package/dist/index.d.ts

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+import type * as Rapier from "@dimforge/rapier3d-compat";
+export type RapierModule = typeof import("@dimforge/rapier3d-compat");
+export type PhysicsVec3 = readonly [number, number, number];
+export type RapierShapeSpec = {
+    readonly kind: "box";
+    readonly halfExtents: PhysicsVec3;
+} | {
+    readonly kind: "sphere";
+    readonly radius: number;
+} | {
+    readonly kind: "capsule";
+    readonly halfHeight: number;
+    readonly radius: number;
+} | {
+    readonly kind: "plane";
+    readonly normal: PhysicsVec3;
+    readonly constant: number;
+} | {
+    readonly kind: "mesh";
+    readonly vertices: readonly PhysicsVec3[];
+    readonly indices: readonly number[];
+} | {
+    readonly kind: "convex-hull";
+    readonly vertices: readonly PhysicsVec3[];
+} | {
+    readonly kind: "heightfield";
+    readonly rows: number;
+    readonly columns: number;
+    readonly heights: readonly number[];
+    readonly cellSize: number;
+};
+export interface RapierRigidBodySpec {
+    readonly type?: "dynamic" | "fixed" | "kinematic-position" | "kinematic-velocity";
+    readonly position?: PhysicsVec3;
+    readonly rotation?: readonly [number, number, number, number];
+    readonly linearVelocity?: PhysicsVec3;
+    readonly angularVelocity?: PhysicsVec3;
+    readonly linearDamping?: number;
+    readonly angularDamping?: number;
+    readonly ccd?: boolean;
+    readonly canSleep?: boolean;
+    readonly mass?: number;
+    readonly principalAngularInertia?: PhysicsVec3;
+}
+export interface RapierColliderSpec {
+    readonly shape: RapierShapeSpec;
+    readonly density?: number;
+    readonly friction?: number;
+    readonly restitution?: number;
+    readonly sensor?: boolean;
+    readonly collisionGroups?: number;
+}
+export interface RapierBodySpec extends RapierRigidBodySpec, RapierColliderSpec {
+}
+export type RapierJointSpec = {
+    readonly type: "fixed" | "hinge" | "slider" | "spring" | "ball-socket" | "motorised-hinge";
+    readonly localAnchorA: PhysicsVec3;
+    readonly localAnchorB: PhysicsVec3;
+    readonly axis: PhysicsVec3;
+    readonly restLength: number;
+    readonly stiffness: number;
+    readonly damping: number;
+    readonly motorSpeed: number;
+    readonly maxMotorTorque: number;
+    readonly limits?: readonly [number, number];
+};
+export interface RapierPhysicsOptions {
+    readonly gravity?: PhysicsVec3;
+    readonly moduleLoader?: (() => Promise<RapierModule>) | undefined;
+}
+export declare class RapierBodyHandle {
+    #private;
+    constructor(world: RapierPhysicsWorld, body: Rapier.RigidBody);
+    get id(): number;
+    position(): PhysicsVec3;
+    velocity(): PhysicsVec3;
+    sleeping(): boolean;
+    applyForce(force: PhysicsVec3): this;
+    applyImpulse(impulse: PhysicsVec3): this;
+    setVelocity(velocity: PhysicsVec3): this;
+    setPosition(position: PhysicsVec3): this;
+    wake(): this;
+    sleep(): this;
+    remove(): void;
+    /** Stable typed escape hatch. The caller does not own or free this object. */
+    unsafeRapierBody(): Rapier.RigidBody;
+    /** The first attached collider, retained for the one-shape convenience API. */
+    unsafeRapierCollider(): Rapier.Collider;
+}
+export declare class RapierColliderHandle {
+    #private;
+    constructor(world: RapierPhysicsWorld, collider: Rapier.Collider);
+    get id(): number;
+    remove(): void;
+    /** Stable typed escape hatch. The adapter owns and frees this object. */
+    unsafeRapierCollider(): Rapier.Collider;
+}
+export declare class RapierJointHandle {
+    #private;
+    constructor(world: RapierPhysicsWorld, joint: Rapier.ImpulseJoint, module: RapierModule);
+    get id(): number;
+    remove(): void;
+    configureMotor(speed: number, maxTorque: number): void;
+    /** Stable typed escape hatch. The adapter owns and frees this object. */
+    unsafeRapierJoint(): Rapier.ImpulseJoint;
+}
+export interface RapierRayHit {
+    readonly body: RapierBodyHandle;
+    readonly colliderHandle: number;
+    readonly timeOfImpact: number;
+    readonly point: PhysicsVec3;
+}
+export interface RapierCharacterMovement {
+    readonly requested: PhysicsVec3;
+    readonly applied: PhysicsVec3;
+    readonly grounded: boolean;
+    readonly collisions: number;
+    readonly nextPosition: PhysicsVec3;
+}
+export declare class RapierCharacterControllerHandle {
+    #private;
+    readonly raw: Rapier.KinematicCharacterController;
+    constructor(world: RapierPhysicsWorld, raw: Rapier.KinematicCharacterController);
+    enableAutostep(maxHeight: number, minWidth: number, includeDynamicBodies?: boolean): this;
+    enableSnapToGround(distance: number): this;
+    setMaxSlopeClimbAngle(radians: number): this;
+    move(character: RapierColliderHandle | RapierBodyHandle, requested: PhysicsVec3): RapierCharacterMovement;
+    dispose(): void;
+}
+export declare class RapierVehicleControllerHandle {
+    #private;
+    readonly raw: Rapier.DynamicRayCastVehicleController;
+    constructor(world: RapierPhysicsWorld, raw: Rapier.DynamicRayCastVehicleController);
+    addWheel(connection: PhysicsVec3, direction: PhysicsVec3, axle: PhysicsVec3, restLength: number, radius: number): this;
+    update(dt: number): void;
+    dispose(): void;
+}
+export declare class RapierPhysicsWorld {
+    #private;
+    constructor(module: RapierModule, gravity: PhysicsVec3);
+    get disposed(): boolean;
+    createRigidBody(spec?: RapierRigidBodySpec): RapierBodyHandle;
+    createCollider(body: RapierBodyHandle, spec: RapierColliderSpec): RapierColliderHandle;
+    createBody(spec: RapierBodySpec): RapierBodyHandle;
+    removeBody(handle: RapierBodyHandle): void;
+    removeCollider(handle: RapierColliderHandle): void;
+    createJoint(spec: RapierJointSpec, a: RapierBodyHandle, b: RapierBodyHandle): RapierJointHandle;
+    removeJoint(handle: RapierJointHandle): void;
+    createFixedJoint(a: RapierBodyHandle, b: RapierBodyHandle): Rapier.ImpulseJoint;
+    createCharacterController(offset?: number): RapierCharacterControllerHandle;
+    removeCharacterController(value: RapierCharacterControllerHandle): void;
+    createVehicleController(chassis: RapierBodyHandle): RapierVehicleControllerHandle;
+    removeVehicleController(value: RapierVehicleControllerHandle): void;
+    raycast(origin: PhysicsVec3, direction: PhysicsVec3, maxDistance?: number): RapierRayHit | undefined;
+    step(dt?: number): void;
+    setGravity(gravity: PhysicsVec3): void;
+    bodies(): readonly RapierBodyHandle[];
+    /** Stable typed escape hatch. The adapter owns and frees the returned world. */
+    unsafeRapierWorld(): Rapier.World;
+    dispose(): void;
+}
+export declare function createRapierPhysics(options?: RapierPhysicsOptions): Promise<RapierPhysicsWorld>;
+/**
+ * Synchronous construction after this ESM module's one-time top-level WASM initialization.
+ * This preserves the established `new PhysicsWorld()` ergonomics without hiding a second
+ * JavaScript solver behind the synchronous API.
+ */
+export declare function createRapierPhysicsSync(options?: Omit<RapierPhysicsOptions, "moduleLoader">): RapierPhysicsWorld;
+//# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

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package/dist/index.js

@@ -0,0 +1,311 @@
+const defaultRapierModule = await import("@dimforge/rapier3d-compat");
+const defaultRapierInit = defaultRapierModule.init;
+if (defaultRapierInit)
+    await defaultRapierInit({});
+function finite(value, label) {
+    if (!Number.isFinite(value))
+        throw new TypeError(`${label} must be finite.`);
+    return value;
+}
+function vec(value, label) {
+    return { x: finite(value[0], `${label}[0]`), y: finite(value[1], `${label}[1]`), z: finite(value[2], `${label}[2]`) };
+}
+export class RapierBodyHandle {
+    #body;
+    #world;
+    constructor(world, body) { this.#world = world; this.#body = body; }
+    get id() { return this.#body.handle; }
+    position() { const p = this.#body.translation(); return [p.x, p.y, p.z]; }
+    velocity() { const p = this.#body.linvel(); return [p.x, p.y, p.z]; }
+    sleeping() { return this.#body.isSleeping(); }
+    applyForce(force) { this.#body.addForce(vec(force, "force"), true); return this; }
+    applyImpulse(impulse) { this.#body.applyImpulse(vec(impulse, "impulse"), true); return this; }
+    setVelocity(velocity) { this.#body.setLinvel(vec(velocity, "velocity"), true); return this; }
+    setPosition(position) { this.#body.setTranslation(vec(position, "position"), true); return this; }
+    wake() { this.#body.wakeUp(); return this; }
+    sleep() { this.#body.sleep(); return this; }
+    remove() { this.#world.removeBody(this); }
+    /** Stable typed escape hatch. The caller does not own or free this object. */
+    unsafeRapierBody() { return this.#body; }
+    /** The first attached collider, retained for the one-shape convenience API. */
+    unsafeRapierCollider() {
+        const collider = this.#body.collider(0);
+        if (!collider)
+            throw new Error("Rapier body has no collider.");
+        return collider;
+    }
+}
+export class RapierColliderHandle {
+    #collider;
+    #world;
+    constructor(world, collider) { this.#world = world; this.#collider = collider; }
+    get id() { return this.#collider.handle; }
+    remove() { this.#world.removeCollider(this); }
+    /** Stable typed escape hatch. The adapter owns and frees this object. */
+    unsafeRapierCollider() { return this.#collider; }
+}
+export class RapierJointHandle {
+    #joint;
+    #world;
+    #module;
+    constructor(world, joint, module) { this.#world = world; this.#joint = joint; this.#module = module; }
+    get id() { return this.#joint.handle; }
+    remove() { this.#world.removeJoint(this); }
+    configureMotor(speed, maxTorque) {
+        const joint = this.#joint;
+        joint.configureMotorModel(this.#module.MotorModel.ForceBased);
+        joint.setMotorMaxForce(finite(maxTorque, "maximum motor torque"));
+        joint.configureMotorVelocity(finite(speed, "motor speed"), 1);
+    }
+    /** Stable typed escape hatch. The adapter owns and frees this object. */
+    unsafeRapierJoint() { return this.#joint; }
+}
+export class RapierCharacterControllerHandle {
+    #world;
+    raw;
+    constructor(world, raw) { this.#world = world; this.raw = raw; }
+    enableAutostep(maxHeight, minWidth, includeDynamicBodies = false) { this.raw.enableAutostep(maxHeight, minWidth, includeDynamicBodies); return this; }
+    enableSnapToGround(distance) { this.raw.enableSnapToGround(distance); return this; }
+    setMaxSlopeClimbAngle(radians) { this.raw.setMaxSlopeClimbAngle(radians); return this; }
+    move(character, requested) {
+        const desired = vec(requested, "character movement");
+        this.raw.computeColliderMovement(character.unsafeRapierCollider(), desired);
+        const movement = this.raw.computedMovement();
+        const body = character.unsafeRapierCollider().parent();
+        if (!body)
+            throw new Error("Character collider must be attached to a rigid body.");
+        const current = body.translation();
+        const next = { x: current.x + movement.x, y: current.y + movement.y, z: current.z + movement.z };
+        body.setNextKinematicTranslation(next);
+        return {
+            requested: [...requested],
+            applied: [movement.x, movement.y, movement.z],
+            grounded: this.raw.computedGrounded(),
+            collisions: this.raw.numComputedCollisions(),
+            nextPosition: [next.x, next.y, next.z]
+        };
+    }
+    dispose() { this.#world.removeCharacterController(this); }
+}
+export class RapierVehicleControllerHandle {
+    #world;
+    raw;
+    constructor(world, raw) { this.#world = world; this.raw = raw; }
+    addWheel(connection, direction, axle, restLength, radius) {
+        this.raw.addWheel(vec(connection, "connection"), vec(direction, "direction"), vec(axle, "axle"), finite(restLength, "restLength"), finite(radius, "radius"));
+        return this;
+    }
+    update(dt) { this.raw.updateVehicle(finite(dt, "dt")); }
+    dispose() { this.#world.removeVehicleController(this); }
+}
+export class RapierPhysicsWorld {
+    #module;
+    #world;
+    #bodies = new Map();
+    #colliders = new Map();
+    #joints = new Map();
+    #characters = new Set();
+    #vehicles = new Set();
+    #disposed = false;
+    constructor(module, gravity) { this.#module = module; this.#world = new module.World(vec(gravity, "gravity")); }
+    get disposed() { return this.#disposed; }
+    createRigidBody(spec = {}) {
+        this.#assertAlive();
+        const R = this.#module;
+        const descriptor = spec.type === "fixed" ? R.RigidBodyDesc.fixed() : spec.type === "kinematic-position" ? R.RigidBodyDesc.kinematicPositionBased() : spec.type === "kinematic-velocity" ? R.RigidBodyDesc.kinematicVelocityBased() : R.RigidBodyDesc.dynamic();
+        if (spec.position)
+            descriptor.setTranslation(...spec.position.map((value, index) => finite(value, `position[${index}]`)));
+        if (spec.rotation)
+            descriptor.setRotation({ x: finite(spec.rotation[0], "rotation[0]"), y: finite(spec.rotation[1], "rotation[1]"), z: finite(spec.rotation[2], "rotation[2]"), w: finite(spec.rotation[3], "rotation[3]") });
+        if (spec.linearVelocity)
+            descriptor.setLinvel(...spec.linearVelocity.map((value, index) => finite(value, `linearVelocity[${index}]`)));
+        if (spec.angularVelocity)
+            descriptor.setAngvel(vec(spec.angularVelocity, "angularVelocity"));
+        if (spec.linearDamping !== undefined)
+            descriptor.setLinearDamping(finite(spec.linearDamping, "linearDamping"));
+        if (spec.angularDamping !== undefined)
+            descriptor.setAngularDamping(finite(spec.angularDamping, "angularDamping"));
+        if (spec.ccd !== undefined)
+            descriptor.setCcdEnabled(spec.ccd);
+        if (spec.canSleep !== undefined)
+            descriptor.setCanSleep(spec.canSleep);
+        if (spec.mass !== undefined && spec.principalAngularInertia) {
+            descriptor.setAdditionalMassProperties(finite(spec.mass, "mass"), { x: 0, y: 0, z: 0 }, vec(spec.principalAngularInertia, "principal angular inertia"), { x: 0, y: 0, z: 0, w: 1 });
+        }
+        else if (spec.mass !== undefined) {
+            descriptor.setAdditionalMass(finite(spec.mass, "mass"));
+        }
+        const body = this.#world.createRigidBody(descriptor);
+        const handle = new RapierBodyHandle(this, body);
+        this.#bodies.set(body.handle, handle);
+        return handle;
+    }
+    createCollider(body, spec) {
+        this.#assertAlive();
+        const R = this.#module;
+        const shape = spec.shape;
+        let collider;
+        if (shape.kind === "box")
+            collider = R.ColliderDesc.cuboid(...shape.halfExtents);
+        else if (shape.kind === "sphere")
+            collider = R.ColliderDesc.ball(shape.radius);
+        else if (shape.kind === "capsule")
+            collider = R.ColliderDesc.capsule(shape.halfHeight, shape.radius);
+        else if (shape.kind === "plane") {
+            collider = new R.ColliderDesc(new R.HalfSpace(vec(shape.normal, "plane normal")));
+            collider.setTranslation(shape.normal[0] * shape.constant, shape.normal[1] * shape.constant, shape.normal[2] * shape.constant);
+        }
+        else if (shape.kind === "mesh") {
+            collider = R.ColliderDesc.trimesh(flattenVertices(shape.vertices), new Uint32Array(shape.indices));
+        }
+        else if (shape.kind === "convex-hull") {
+            const hull = R.ColliderDesc.convexHull(flattenVertices(shape.vertices));
+            if (!hull)
+                throw new Error("Rapier could not construct the requested convex hull.");
+            collider = hull;
+        }
+        else {
+            collider = R.ColliderDesc.heightfield(shape.rows - 1, shape.columns - 1, new Float32Array(shape.heights), { x: shape.cellSize * (shape.columns - 1), y: 1, z: shape.cellSize * (shape.rows - 1) });
+        }
+        if (spec.density !== undefined)
+            collider.setDensity(finite(spec.density, "density"));
+        if (spec.friction !== undefined)
+            collider.setFriction(finite(spec.friction, "friction"));
+        if (spec.restitution !== undefined)
+            collider.setRestitution(finite(spec.restitution, "restitution"));
+        if (spec.sensor !== undefined)
+            collider.setSensor(spec.sensor);
+        if (spec.collisionGroups !== undefined)
+            collider.setCollisionGroups(spec.collisionGroups >>> 0);
+        collider.setFrictionCombineRule(R.CoefficientCombineRule.Multiply);
+        collider.setRestitutionCombineRule(R.CoefficientCombineRule.Max);
+        const rawCollider = this.#world.createCollider(collider, body.unsafeRapierBody());
+        // Rapier applies descriptor-level additional mass at the next mass-property
+        // recomputation. Do that before the first step so initial velocity, force, and
+        // inertia never run for one frame against a zero-mass dynamic body.
+        body.unsafeRapierBody().recomputeMassPropertiesFromColliders();
+        const handle = new RapierColliderHandle(this, rawCollider);
+        this.#colliders.set(rawCollider.handle, handle);
+        return handle;
+    }
+    createBody(spec) {
+        const body = this.createRigidBody(spec);
+        this.createCollider(body, spec);
+        return body;
+    }
+    removeBody(handle) {
+        this.#assertAlive();
+        const raw = handle.unsafeRapierBody();
+        for (let index = 0; index < raw.numColliders(); index += 1)
+            this.#colliders.delete(raw.collider(index).handle);
+        this.#world.removeRigidBody(raw);
+        this.#bodies.delete(raw.handle);
+    }
+    removeCollider(handle) { this.#assertAlive(); const raw = handle.unsafeRapierCollider(); this.#world.removeCollider(raw, true); this.#colliders.delete(raw.handle); }
+    createJoint(spec, a, b) {
+        this.#assertAlive();
+        const R = this.#module;
+        const anchorA = vec(spec.localAnchorA, "joint anchor A");
+        const anchorB = vec(spec.localAnchorB, "joint anchor B");
+        const axis = vec(spec.axis, "joint axis");
+        let data;
+        if (spec.type === "fixed")
+            data = R.JointData.fixed(anchorA, { x: 0, y: 0, z: 0, w: 1 }, anchorB, { x: 0, y: 0, z: 0, w: 1 });
+        else if (spec.type === "slider")
+            data = R.JointData.prismatic(anchorA, anchorB, axis);
+        else if (spec.type === "spring") {
+            // Aura exposes normalized game-facing stiffness/damping; Rapier expects physical
+            // coefficients. The adapter owns this unit conversion so public descriptors remain
+            // backend-neutral.
+            data = R.JointData.spring(spec.restLength, spec.stiffness * 100, spec.damping * 10, anchorA, anchorB);
+        }
+        else if (spec.type === "ball-socket")
+            data = R.JointData.spherical(anchorA, anchorB);
+        else
+            data = R.JointData.revolute(anchorA, anchorB, axis);
+        const raw = this.#world.createImpulseJoint(data, a.unsafeRapierBody(), b.unsafeRapierBody(), true);
+        const unit = raw;
+        if (spec.limits && "setLimits" in unit)
+            unit.setLimits(spec.limits[0], spec.limits[1]);
+        const handle = new RapierJointHandle(this, raw, R);
+        if (spec.type === "motorised-hinge")
+            handle.configureMotor(spec.motorSpeed, spec.maxMotorTorque);
+        this.#joints.set(raw.handle, handle);
+        return handle;
+    }
+    removeJoint(handle) { this.#assertAlive(); const raw = handle.unsafeRapierJoint(); this.#world.removeImpulseJoint(raw, true); this.#joints.delete(raw.handle); }
+    createFixedJoint(a, b) {
+        this.#assertAlive();
+        return this.#world.createImpulseJoint(this.#module.JointData.fixed({ x: 0, y: 0, z: 0 }, { x: 0, y: 0, z: 0, w: 1 }, { x: 0, y: 0, z: 0 }, { x: 0, y: 0, z: 0, w: 1 }), a.unsafeRapierBody(), b.unsafeRapierBody(), true);
+    }
+    createCharacterController(offset = 0.01) { this.#assertAlive(); const value = new RapierCharacterControllerHandle(this, this.#world.createCharacterController(offset)); this.#characters.add(value); return value; }
+    removeCharacterController(value) { if (!this.#characters.delete(value))
+        return; this.#world.removeCharacterController(value.raw); }
+    createVehicleController(chassis) { this.#assertAlive(); const value = new RapierVehicleControllerHandle(this, this.#world.createVehicleController(chassis.unsafeRapierBody())); this.#vehicles.add(value); return value; }
+    removeVehicleController(value) { if (!this.#vehicles.delete(value))
+        return; this.#world.removeVehicleController(value.raw); }
+    raycast(origin, direction, maxDistance = Number.POSITIVE_INFINITY) {
+        this.#assertAlive();
+        const ray = new this.#module.Ray(vec(origin, "origin"), vec(direction, "direction"));
+        const hit = this.#world.castRay(ray, maxDistance, true);
+        if (!hit)
+            return undefined;
+        const collider = this.#world.getCollider(hit.collider.handle);
+        const rawBody = collider?.parent();
+        if (!rawBody)
+            return undefined;
+        const body = this.#bodies.get(rawBody.handle);
+        if (!body)
+            return undefined;
+        const point = ray.pointAt(hit.timeOfImpact);
+        return { body, colliderHandle: hit.collider.handle, timeOfImpact: hit.timeOfImpact, point: [point.x, point.y, point.z] };
+    }
+    step(dt = 1 / 60) { this.#assertAlive(); this.#world.timestep = finite(dt, "dt"); this.#world.step(); }
+    setGravity(gravity) { this.#assertAlive(); this.#world.gravity = vec(gravity, "gravity"); }
+    bodies() { return [...this.#bodies.values()]; }
+    /** Stable typed escape hatch. The adapter owns and frees the returned world. */
+    unsafeRapierWorld() { this.#assertAlive(); return this.#world; }
+    dispose() {
+        if (this.#disposed)
+            return;
+        for (const value of [...this.#vehicles])
+            this.removeVehicleController(value);
+        for (const value of [...this.#characters])
+            this.removeCharacterController(value);
+        this.#joints.clear();
+        this.#colliders.clear();
+        this.#bodies.clear();
+        this.#world.free();
+        this.#disposed = true;
+    }
+    #assertAlive() { if (this.#disposed)
+        throw new Error("RapierPhysicsWorld is disposed."); }
+}
+function flattenVertices(vertices) {
+    const flattened = new Float32Array(vertices.length * 3);
+    for (let index = 0; index < vertices.length; index += 1) {
+        const vertex = vertices[index];
+        flattened[index * 3] = finite(vertex[0], `vertex ${index}[0]`);
+        flattened[index * 3 + 1] = finite(vertex[1], `vertex ${index}[1]`);
+        flattened[index * 3 + 2] = finite(vertex[2], `vertex ${index}[2]`);
+    }
+    return flattened;
+}
+export async function createRapierPhysics(options = {}) {
+    const module = await (options.moduleLoader ?? (() => import("@dimforge/rapier3d-compat")))();
+    // The official compat build exposes explicit async WASM initialization and
+    // avoids forcing each consuming bundler to configure a raw `.wasm` loader.
+    const explicitInit = module.init;
+    if (explicitInit)
+        await explicitInit({});
+    return new RapierPhysicsWorld(module, options.gravity ?? [0, -9.81, 0]);
+}
+/**
+ * Synchronous construction after this ESM module's one-time top-level WASM initialization.
+ * This preserves the established `new PhysicsWorld()` ergonomics without hiding a second
+ * JavaScript solver behind the synchronous API.
+ */
+export function createRapierPhysicsSync(options = {}) {
+    return new RapierPhysicsWorld(defaultRapierModule, options.gravity ?? [0, -9.81, 0]);
+}
+//# sourceMappingURL=index.js.map

package/dist/index.js.map

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package/package.json

@@ -0,0 +1,44 @@
+{
+  "name": "@aura3d/physics-rapier",
+  "version": "2.0.0",
+  "type": "module",
+  "main": "./dist/index.js",
+  "types": "./dist/index.d.ts",
+  "sideEffects": false,
+  "dependencies": {
+    "@dimforge/rapier3d-compat": "0.20.0"
+  },
+  "exports": {
+    ".": {
+      "types": "./dist/index.d.ts",
+      "import": "./dist/index.js"
+    }
+  },
+  "description": "Optional asynchronously loaded Rapier physical-simulation adapter for Aura3D.",
+  "keywords": [
+    "aura3d",
+    "physics",
+    "rapier",
+    "wasm",
+    "rigid-body",
+    "character-controller",
+    "vehicle-controller"
+  ],
+  "homepage": "https://aura3d.auraone.ai",
+  "repository": {
+    "type": "git",
+    "url": "git+https://github.com/auraoneai/aura3d.git",
+    "directory": "packages/physics-rapier"
+  },
+  "bugs": {
+    "url": "https://github.com/auraoneai/aura3d/issues"
+  },
+  "license": "MIT",
+  "publishConfig": {
+    "access": "public"
+  },
+  "files": [
+    "README.md",
+    "dist"
+  ]
+}