@aura3d/physics-rapier 3.0.1 → 4.0.2

package/dist/index.d.ts

@@ -130,21 +130,155 @@ export declare class RapierCharacterControllerHandle {
     enableAutostep(maxHeight: number, minWidth: number, includeDynamicBodies?: boolean): this;
     enableSnapToGround(distance: number): this;
     setMaxSlopeClimbAngle(radians: number): this;
+    setMinSlopeSlideAngle(radians: number): this;
+    /** Sliding down slopes too steep to stand on. Turning this off leaves a character stuck on a hill. */
+    setSlideEnabled(enabled: boolean): this;
+    /** Mass used when the character pushes a dynamic body, in kilograms. */
+    setCharacterMass(mass: number | null): this;
+    /** Whether touching a dynamic body moves it. Off, the character walks through crates. */
+    setApplyImpulsesToDynamicBodies(enabled: boolean): this;
+    /** The grounding reported by the most recent `move`, with no solver side effect. */
+    get lastGrounded(): boolean;
+    get lastApplied(): PhysicsVec3;
     move(character: RapierColliderHandle | RapierBodyHandle, requested: PhysicsVec3): RapierCharacterMovement;
+    /**
+     * Teleport the character and clear the queued kinematic step.
+     *
+     * Writing only the rendered mesh leaves Rapier's queued next-translation in place,
+     * so the respawned character is dragged back toward wherever the old movement was
+     * headed on the following step.
+     */
+    setPosition(character: RapierColliderHandle | RapierBodyHandle, position: PhysicsVec3): PhysicsVec3;
     dispose(): void;
 }
+/** Per-wheel suspension and grip tuning. All values are solver units. */
+export interface RapierWheelTuning {
+    readonly suspensionStiffness?: number;
+    readonly suspensionCompression?: number;
+    readonly suspensionRelaxation?: number;
+    readonly maxSuspensionTravel?: number;
+    readonly maxSuspensionForce?: number;
+    /**
+     * Tyre traction. Rapier's own wording: "the larger the value, the more
+     * instantaneous braking will happen" — so a LARGER number is MORE grip and a
+     * smaller number lets the tyre break loose. A racing game's drift control is
+     * therefore a *reduction* of this value.
+     */
+    readonly frictionSlip?: number;
+    readonly sideFrictionStiffness?: number;
+}
+/** A wheel plus its initial tuning, used by `addWheel`. */
+export interface RapierWheelSpec extends RapierWheelTuning {
+    readonly connection: PhysicsVec3;
+    readonly direction: PhysicsVec3;
+    readonly axle: PhysicsVec3;
+    readonly restLength: number;
+    readonly radius: number;
+}
+/** Driver input for one wheel for one step. */
+export interface RapierWheelCommand {
+    readonly engineForce?: number;
+    readonly brake?: number;
+    /** Radians. */
+    readonly steering?: number;
+}
+/** Measured wheel state after `update`. */
+export interface RapierWheelState {
+    readonly index: number;
+    readonly isInContact: boolean;
+    readonly contactPoint: PhysicsVec3 | null;
+    readonly contactNormal: PhysicsVec3 | null;
+    readonly engineForce: number;
+    readonly brake: number;
+    readonly steering: number;
+    readonly suspensionLength: number;
+    readonly rotation: number;
+    readonly frictionSlip: number;
+    /** Force the suspension spring is applying this step, newtons. Zero means the spring is not carrying the car. */
+    readonly suspensionForce: number;
+    /** Tyre impulse along the rolling direction — the drive/brake traction actually realized. */
+    readonly forwardImpulse: number;
+    /** Tyre impulse across the rolling direction — the lateral grip actually realized. This is the slip signal. */
+    readonly sideImpulse: number;
+    /** Handle of the collider this tyre is standing on, or `null` in the air. Lets a game tell road from verge without a second query. */
+    readonly groundColliderHandle: number | null;
+}
 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;
+    /** Chassis-local axes the solver uses to project suspension and tyre forces. */
+    get upAxis(): number;
+    set upAxis(axis: number);
+    /**
+     * Rapier declares this as the write-only accessor `setIndexForwardAxis`, so the
+     * assignment below is the call, not a typo. Reading it back is `indexForwardAxis`.
+     */
+    set forwardAxis(axis: number);
+    get forwardAxis(): number;
+    addWheel(spec: RapierWheelSpec): this;
+    /** Wheel geometry may only be changed through the setters after registration. */
+    setWheelTuning(index: number, tuning: RapierWheelTuning): this;
+    /**
+     * Applies drive input. Only the fields present are written, so a caller can
+     * steer without disturbing throttle and vice versa.
+     *
+     * Nonzero input wakes the chassis. Rapier sleeps a body that has been still, and a
+     * raycast vehicle writes its chassis velocity directly rather than through the force
+     * accumulator, so nothing else wakes it: a car that sat on the start line long enough
+     * to fall asleep then ignores the throttle when the lights go out. That is a
+     * "car will not launch after a countdown" bug with no error anywhere in it.
+     */
+    setWheelCommand(index: number, command: RapierWheelCommand): this;
+    /** Broadcast the same brake to every wheel — the handbrake and stop case. */
+    setBrakes(brake: number): this;
+    wheelState(index: number): RapierWheelState;
+    wheelStates(): readonly RapierWheelState[];
+    /** True only while at least one tyre is touching the ground — the grounding test. */
+    isGrounded(): boolean;
+    groundedWheelCount(): number;
+    currentVehicleSpeed(): number;
+    wheelCount(): number;
     update(dt: number): void;
+    /**
+     * Release every drive input without touching the chassis.
+     *
+     * A restart that teleports the car but leaves `engineForce` set resumes throttle
+     * the instant the frame resumes, and a wheel left at full lock steers the car into
+     * the barrier it was respawned away from. Both are invisible in a screenshot and
+     * obvious in play, so the reset has to own them.
+     */
+    clearWheelCommands(): this;
+    /**
+     * Take the chassis back as a full physical state, not just a rendered transform.
+     *
+     * Position, rotation, linear velocity, angular velocity and sleep state are all
+     * written, because leaving the old velocity in place means the respawned car keeps
+     * its pre-crash momentum and drives straight off the new spawn.
+     */
+    setChassisPose(position: PhysicsVec3, rotation?: readonly [number, number, number, number], linearVelocity?: PhysicsVec3, angularVelocity?: PhysicsVec3): this;
+    /** The native body the controller drives, so a caller can read the solved pose. */
+    chassisPosition(): PhysicsVec3;
+    chassisRotation(): readonly [number, number, number, number];
+    chassisLinearVelocity(): PhysicsVec3;
+    chassisAngularVelocity(): PhysicsVec3;
     dispose(): void;
 }
 export declare class RapierPhysicsWorld {
     #private;
     constructor(module: RapierModule, gravity: PhysicsVec3);
     get disposed(): boolean;
+    /** True until {@link refreshQueries} or a real step has run since the last structural change. */
+    get queriesStale(): boolean;
+    /** Declare that a transform was written outside the solver, so the next query needs a refresh. */
+    markQueriesStale(): void;
+    /**
+     * Make scene queries valid without advancing the simulation.
+     *
+     * Called by `PhysicsWorld` before a character move or a vehicle wheel update when the
+     * world changed since the last pass, so a route never has to know this exists.
+     */
+    refreshQueries(): void;
     createRigidBody(spec?: RapierRigidBodySpec): RapierBodyHandle;
     createCollider(body: RapierBodyHandle, spec: RapierColliderSpec): RapierColliderHandle;
     createBody(spec: RapierBodySpec): RapierBodyHandle;
@@ -172,4 +306,33 @@ export declare function createRapierPhysics(options?: RapierPhysicsOptions): Pro
  * JavaScript solver behind the synchronous API.
  */
 export declare function createRapierPhysicsSync(options?: Omit<RapierPhysicsOptions, "moduleLoader">): RapierPhysicsWorld;
+/**
+ * PRD-05 §6.3.7 — consume a generated `<id>.<hash8>.collision.glb` sidecar.
+ *
+ * The sidecar (written by `tools/asset-optimize` step `colliders`) carries one
+ * node per mesh-bearing scene node; each mesh's `extras.aura3dCollider` names
+ * the shape: `trimesh` / `convex-hull` geometry verbatim, or analytic `box` /
+ * `capsule` parameters baked from bounds. Node-local TRS is baked into the
+ * produced shape so colliders sit where the source mesh sits.
+ *
+ * `source` is a fetchable URL or the sidecar bytes. `transform` places the
+ * fixed body all colliders attach to — it is the model's world transform
+ * (Q-15-2 wires `model(asset, { physics, collider: "auto" })` to call this).
+ * `options.collider` passes density/friction/etc. through to every collider.
+ */
+export interface ColliderSidecarTransform {
+    readonly position?: PhysicsVec3;
+    readonly rotation?: readonly [number, number, number, number];
+}
+export interface ColliderSidecarOptions extends ColliderSidecarTransform {
+    readonly body?: RapierBodyHandle;
+    readonly collider?: Readonly<Partial<Omit<RapierColliderSpec, "shape">>>;
+}
+export interface ColliderSidecarResult {
+    readonly body: RapierBodyHandle;
+    readonly colliders: readonly RapierColliderHandle[];
+    /** Per-collider `extras.aura3dCollider.sourceNode` in creation order. */
+    readonly sourceNodes: readonly string[];
+}
+export declare function createCollidersFromSidecar(world: RapierPhysicsWorld, source: string | Uint8Array, options?: ColliderSidecarOptions): Promise<ColliderSidecarResult>;
 //# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

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package/dist/index.js

@@ -64,41 +64,255 @@ export class RapierJointHandle {
 export class RapierCharacterControllerHandle {
     #world;
     raw;
+    #lastGrounded = false;
+    #lastApplied = [0, 0, 0];
     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; }
+    setMinSlopeSlideAngle(radians) { this.raw.setMinSlopeSlideAngle(radians); return this; }
+    /** Sliding down slopes too steep to stand on. Turning this off leaves a character stuck on a hill. */
+    setSlideEnabled(enabled) { this.raw.setSlideEnabled(enabled); return this; }
+    /** Mass used when the character pushes a dynamic body, in kilograms. */
+    setCharacterMass(mass) { this.raw.setCharacterMass(mass); return this; }
+    /** Whether touching a dynamic body moves it. Off, the character walks through crates. */
+    setApplyImpulsesToDynamicBodies(enabled) { this.raw.setApplyImpulsesToDynamicBodies(enabled); return this; }
+    /** The grounding reported by the most recent `move`, with no solver side effect. */
+    get lastGrounded() { return this.#lastGrounded; }
+    get lastApplied() { return this.#lastApplied; }
     move(character, requested) {
         const desired = vec(requested, "character movement");
-        this.raw.computeColliderMovement(character.unsafeRapierCollider(), desired);
+        const collider = character.unsafeRapierCollider();
+        if (collider.isSensor()) {
+            throw new Error("A solver-backed character controller cannot move through a sensor collider: sensors are reported to " +
+                "queries but never block, so the character would fall through the world with no error anywhere.");
+        }
+        this.raw.computeColliderMovement(collider, desired);
         const movement = this.raw.computedMovement();
-        const body = character.unsafeRapierCollider().parent();
+        const body = collider.parent();
         if (!body)
             throw new Error("Character collider must be attached to a rigid body.");
+        if (!body.isKinematic()) {
+            throw new Error("A solver-backed character controller moves a kinematic-position body; Rapier owns the position the " +
+                "collision solver allowed. A dynamic body has to be pushed by forces or it gets two transform owners.");
+        }
         const current = body.translation();
         const next = { x: current.x + movement.x, y: current.y + movement.y, z: current.z + movement.z };
         body.setNextKinematicTranslation(next);
+        this.#lastGrounded = this.raw.computedGrounded();
+        this.#lastApplied = [movement.x, movement.y, movement.z];
         return {
             requested: [...requested],
             applied: [movement.x, movement.y, movement.z],
-            grounded: this.raw.computedGrounded(),
+            grounded: this.#lastGrounded,
             collisions: this.raw.numComputedCollisions(),
             nextPosition: [next.x, next.y, next.z]
         };
     }
+    /**
+     * Teleport the character and clear the queued kinematic step.
+     *
+     * Writing only the rendered mesh leaves Rapier's queued next-translation in place,
+     * so the respawned character is dragged back toward wherever the old movement was
+     * headed on the following step.
+     */
+    setPosition(character, position) {
+        const body = character.unsafeRapierCollider().parent();
+        if (!body)
+            throw new Error("Character collider must be attached to a rigid body.");
+        const target = vec(position, "character position");
+        body.setTranslation(target, true);
+        body.setNextKinematicTranslation(target);
+        this.#lastGrounded = false;
+        this.#lastApplied = [0, 0, 0];
+        return [target.x, target.y, target.z];
+    }
     dispose() { this.#world.removeCharacterController(this); }
 }
+function readVec(target) {
+    if (!target)
+        return null;
+    return [target.x, target.y, target.z];
+}
 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"));
+    /** Chassis-local axes the solver uses to project suspension and tyre forces. */
+    get upAxis() { return this.raw.indexUpAxis; }
+    set upAxis(axis) { this.raw.indexUpAxis = VehicleAxis(axis); }
+    /**
+     * Rapier declares this as the write-only accessor `setIndexForwardAxis`, so the
+     * assignment below is the call, not a typo. Reading it back is `indexForwardAxis`.
+     */
+    set forwardAxis(axis) { this.raw.setIndexForwardAxis = VehicleAxis(axis); }
+    get forwardAxis() { return this.raw.indexForwardAxis; }
+    addWheel(spec) {
+        this.raw.addWheel(vec(spec.connection, "wheel connection"), vec(spec.direction, "wheel direction"), vec(spec.axle, "wheel axle"), positive(spec.restLength, "suspension rest length"), positive(spec.radius, "wheel radius"));
+        const index = this.raw.numWheels() - 1;
+        if (index < 0)
+            throw new Error("Rapier did not register the wheel.");
+        this.setWheelTuning(index, spec);
+        return this;
+    }
+    /** Wheel geometry may only be changed through the setters after registration. */
+    setWheelTuning(index, tuning) {
+        const i = WheelIndex(index, this.raw.numWheels());
+        if (tuning.suspensionStiffness !== undefined)
+            this.raw.setWheelSuspensionStiffness(i, finite(tuning.suspensionStiffness, "suspensionStiffness"));
+        if (tuning.suspensionCompression !== undefined)
+            this.raw.setWheelSuspensionCompression(i, finite(tuning.suspensionCompression, "suspensionCompression"));
+        if (tuning.suspensionRelaxation !== undefined)
+            this.raw.setWheelSuspensionRelaxation(i, finite(tuning.suspensionRelaxation, "suspensionRelaxation"));
+        if (tuning.maxSuspensionTravel !== undefined)
+            this.raw.setWheelMaxSuspensionTravel(i, finite(tuning.maxSuspensionTravel, "maxSuspensionTravel"));
+        if (tuning.maxSuspensionForce !== undefined)
+            this.raw.setWheelMaxSuspensionForce(i, finite(tuning.maxSuspensionForce, "maxSuspensionForce"));
+        if (tuning.frictionSlip !== undefined)
+            this.raw.setWheelFrictionSlip(i, positive(tuning.frictionSlip, "frictionSlip"));
+        if (tuning.sideFrictionStiffness !== undefined)
+            this.raw.setWheelSideFrictionStiffness(i, finite(tuning.sideFrictionStiffness, "sideFrictionStiffness"));
+        return this;
+    }
+    /**
+     * Applies drive input. Only the fields present are written, so a caller can
+     * steer without disturbing throttle and vice versa.
+     *
+     * Nonzero input wakes the chassis. Rapier sleeps a body that has been still, and a
+     * raycast vehicle writes its chassis velocity directly rather than through the force
+     * accumulator, so nothing else wakes it: a car that sat on the start line long enough
+     * to fall asleep then ignores the throttle when the lights go out. That is a
+     * "car will not launch after a countdown" bug with no error anywhere in it.
+     */
+    setWheelCommand(index, command) {
+        const i = WheelIndex(index, this.raw.numWheels());
+        if (command.engineForce !== undefined)
+            this.raw.setWheelEngineForce(i, finite(command.engineForce, "engineForce"));
+        if (command.brake !== undefined)
+            this.raw.setWheelBrake(i, nonNegative(command.brake, "brake"));
+        if (command.steering !== undefined)
+            this.raw.setWheelSteering(i, finite(command.steering, "steering"));
+        if ((command.engineForce ?? 0) !== 0 || (command.brake ?? 0) !== 0 || (command.steering ?? 0) !== 0) {
+            this.raw.chassis().wakeUp();
+        }
+        return this;
+    }
+    /** Broadcast the same brake to every wheel — the handbrake and stop case. */
+    setBrakes(brake) {
+        const value = nonNegative(brake, "brake");
+        this.raw.chassis().wakeUp();
+        for (let i = 0; i < this.raw.numWheels(); i += 1)
+            this.raw.setWheelBrake(i, value);
         return this;
     }
+    wheelState(index) {
+        const i = WheelIndex(index, this.raw.numWheels());
+        return {
+            index: i,
+            isInContact: this.raw.wheelIsInContact(i),
+            contactPoint: readVec(this.raw.wheelContactPoint(i)),
+            contactNormal: readVec(this.raw.wheelContactNormal(i)),
+            engineForce: this.raw.wheelEngineForce(i) ?? 0,
+            brake: this.raw.wheelBrake(i) ?? 0,
+            steering: this.raw.wheelSteering(i) ?? 0,
+            suspensionLength: this.raw.wheelSuspensionLength(i) ?? this.raw.wheelSuspensionRestLength(i) ?? 0,
+            rotation: this.raw.wheelRotation(i) ?? 0,
+            frictionSlip: this.raw.wheelFrictionSlip(i) ?? 0,
+            suspensionForce: this.raw.wheelSuspensionForce(i) ?? 0,
+            forwardImpulse: this.raw.wheelForwardImpulse(i) ?? 0,
+            sideImpulse: this.raw.wheelSideImpulse(i) ?? 0,
+            groundColliderHandle: this.raw.wheelGroundObject(i)?.handle ?? null,
+        };
+    }
+    wheelStates() {
+        return Array.from({ length: this.raw.numWheels() }, (_, i) => this.wheelState(i));
+    }
+    /** True only while at least one tyre is touching the ground — the grounding test. */
+    isGrounded() {
+        for (let i = 0; i < this.raw.numWheels(); i += 1)
+            if (this.raw.wheelIsInContact(i))
+                return true;
+        return false;
+    }
+    groundedWheelCount() {
+        let count = 0;
+        for (let i = 0; i < this.raw.numWheels(); i += 1)
+            if (this.raw.wheelIsInContact(i))
+                count += 1;
+        return count;
+    }
+    currentVehicleSpeed() { return this.raw.currentVehicleSpeed(); }
+    wheelCount() { return this.raw.numWheels(); }
     update(dt) { this.raw.updateVehicle(finite(dt, "dt")); }
+    /**
+     * Release every drive input without touching the chassis.
+     *
+     * A restart that teleports the car but leaves `engineForce` set resumes throttle
+     * the instant the frame resumes, and a wheel left at full lock steers the car into
+     * the barrier it was respawned away from. Both are invisible in a screenshot and
+     * obvious in play, so the reset has to own them.
+     */
+    clearWheelCommands() {
+        for (let i = 0; i < this.raw.numWheels(); i += 1) {
+            this.raw.setWheelEngineForce(i, 0);
+            this.raw.setWheelBrake(i, 0);
+            this.raw.setWheelSteering(i, 0);
+        }
+        return this;
+    }
+    /**
+     * Take the chassis back as a full physical state, not just a rendered transform.
+     *
+     * Position, rotation, linear velocity, angular velocity and sleep state are all
+     * written, because leaving the old velocity in place means the respawned car keeps
+     * its pre-crash momentum and drives straight off the new spawn.
+     */
+    setChassisPose(position, rotation, linearVelocity, angularVelocity) {
+        const body = this.raw.chassis();
+        body.setTranslation(vec(position, "chassis position"), true);
+        if (rotation) {
+            body.setRotation({
+                x: finite(rotation[0], "chassis rotation[0]"),
+                y: finite(rotation[1], "chassis rotation[1]"),
+                z: finite(rotation[2], "chassis rotation[2]"),
+                w: finite(rotation[3], "chassis rotation[3]")
+            }, true);
+        }
+        body.setLinvel(vec(linearVelocity ?? [0, 0, 0], "chassis linear velocity"), true);
+        body.setAngvel(vec(angularVelocity ?? [0, 0, 0], "chassis angular velocity"), true);
+        body.wakeUp();
+        this.clearWheelCommands();
+        return this;
+    }
+    /** The native body the controller drives, so a caller can read the solved pose. */
+    chassisPosition() { const p = this.raw.chassis().translation(); return [p.x, p.y, p.z]; }
+    chassisRotation() { const q = this.raw.chassis().rotation(); return [q.x, q.y, q.z, q.w]; }
+    chassisLinearVelocity() { const v = this.raw.chassis().linvel(); return [v.x, v.y, v.z]; }
+    chassisAngularVelocity() { const v = this.raw.chassis().angvel(); return [v.x, v.y, v.z]; }
     dispose() { this.#world.removeVehicleController(this); }
 }
+function VehicleAxis(axis) {
+    if (!Number.isInteger(axis) || axis < 0 || axis > 2)
+        throw new TypeError("Vehicle axis must be 0 (x), 1 (y) or 2 (z).");
+    return axis;
+}
+function WheelIndex(index, count) {
+    if (!Number.isInteger(index) || index < 0 || index >= count)
+        throw new RangeError(`Wheel index ${index} is out of range for ${count} wheel(s).`);
+    return index;
+}
+function positive(value, label) {
+    const v = finite(value, label);
+    if (v <= 0)
+        throw new RangeError(`${label} must be greater than zero.`);
+    return v;
+}
+function nonNegative(value, label) {
+    const v = finite(value, label);
+    if (v < 0)
+        throw new RangeError(`${label} must not be negative.`);
+    return v;
+}
 export class RapierPhysicsWorld {
     #module;
     #world;
@@ -108,10 +322,49 @@ export class RapierPhysicsWorld {
     #characters = new Set();
     #vehicles = new Set();
     #disposed = false;
+    /**
+     * Whether Rapier's internal scene-query structure still needs a pass before it can
+     * answer a shape cast or wheel ray.
+     *
+     * This is a solver property worth stating plainly: Rapier rebuilds its query
+     * acceleration structure inside `World.step()`. A collider created after the last
+     * step is therefore *invisible* to `computeColliderMovement` and to
+     * `updateVehicle`'s wheel rays. The symptom is not an error — the character controller
+     * happily reports an unobstructed move through the level floor on the very first
+     * frame, and every wheel reports "in the air" on the frame the car spawns. That is
+     * the "character sinks through the floor" and "car beside the road" defect class,
+     * created by construction order rather than by the game.
+     *
+     * A zero-duration step refreshes the structure without advancing anything: measured,
+     * positions and velocities are bit-identical across it. So the wrapper can be honest
+     * about freshness and pay one extra narrow-phase pass, once, after a structural change.
+     */
+    #queriesStale = true;
     constructor(module, gravity) { this.#module = module; this.#world = new module.World(vec(gravity, "gravity")); }
     get disposed() { return this.#disposed; }
+    /** True until {@link refreshQueries} or a real step has run since the last structural change. */
+    get queriesStale() { return this.#queriesStale; }
+    /** Declare that a transform was written outside the solver, so the next query needs a refresh. */
+    markQueriesStale() { this.#queriesStale = true; }
+    /**
+     * Make scene queries valid without advancing the simulation.
+     *
+     * Called by `PhysicsWorld` before a character move or a vehicle wheel update when the
+     * world changed since the last pass, so a route never has to know this exists.
+     */
+    refreshQueries() {
+        this.#assertAlive();
+        if (!this.#queriesStale)
+            return;
+        const previousTimestep = this.#world.timestep;
+        this.#world.timestep = 0;
+        this.#world.step();
+        this.#world.timestep = previousTimestep;
+        this.#queriesStale = false;
+    }
     createRigidBody(spec = {}) {
         this.#assertAlive();
+        this.#queriesStale = true;
         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)
@@ -143,6 +396,7 @@ export class RapierPhysicsWorld {
     }
     createCollider(body, spec) {
         this.#assertAlive();
+        this.#queriesStale = true;
         const R = this.#module;
         const shape = spec.shape;
         let collider;
@@ -196,13 +450,14 @@ export class RapierPhysicsWorld {
     }
     removeBody(handle) {
         this.#assertAlive();
+        this.#queriesStale = true;
         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); }
+    removeCollider(handle) { this.#assertAlive(); this.#queriesStale = true; const raw = handle.unsafeRapierCollider(); this.#world.removeCollider(raw, true); this.#colliders.delete(raw.handle); }
     createJoint(spec, a, b) {
         this.#assertAlive();
         const R = this.#module;
@@ -261,8 +516,8 @@ export class RapierPhysicsWorld {
         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"); }
+    step(dt = 1 / 60) { this.#assertAlive(); this.#world.timestep = finite(dt, "dt"); this.#world.step(); this.#queriesStale = false; }
+    setGravity(gravity) { this.#assertAlive(); this.#world.gravity = vec(gravity, "gravity"); this.#queriesStale = true; }
     bodies() { return [...this.#bodies.values()]; }
     /** Stable typed escape hatch. The adapter owns and frees the returned world. */
     unsafeRapierWorld() { this.#assertAlive(); return this.#world; }
@@ -309,4 +564,143 @@ export async function createRapierPhysics(options = {}) {
 export function createRapierPhysicsSync(options = {}) {
     return new RapierPhysicsWorld(defaultRapierModule, options.gravity ?? [0, -9.81, 0]);
 }
+function transformPoint(m, p) {
+    const [x, y, z] = p;
+    return [
+        m[0] * x + m[4] * y + m[8] * z + m[12],
+        m[1] * x + m[5] * y + m[9] * z + m[13],
+        m[2] * x + m[6] * y + m[10] * z + m[14]
+    ];
+}
+/** Largest column length — uniform-scale estimate for baking node scale into collider params. */
+function transformScale(m) {
+    let max = 0;
+    for (let c = 0; c < 3; c++) {
+        const len = Math.hypot(m[c * 4], m[c * 4 + 1], m[c * 4 + 2]);
+        if (len > max)
+            max = len;
+    }
+    return max || 1;
+}
+export async function createCollidersFromSidecar(world, source, options = {}) {
+    const bytes = typeof source === "string"
+        ? new Uint8Array(await (await fetch(source)).arrayBuffer())
+        : source;
+    const [{ WebIO }, { ALL_EXTENSIONS }, { MeshoptDecoder }] = await Promise.all([
+        import("@gltf-transform/core"),
+        import("@gltf-transform/extensions"),
+        import("meshoptimizer")
+    ]);
+    const io = new WebIO()
+        .registerExtensions(ALL_EXTENSIONS)
+        .registerDependencies({ "meshopt.decoder": MeshoptDecoder });
+    await MeshoptDecoder.ready;
+    const doc = await io.readBinary(bytes);
+    const body = options.body ?? world.createRigidBody({
+        type: "fixed",
+        position: options.position,
+        rotation: options.rotation
+    });
+    const colliders = [];
+    const sourceNodes = [];
+    for (const node of doc.getRoot().listNodes()) {
+        const mesh = node.getMesh();
+        if (!mesh)
+            continue;
+        const extras = mesh.getExtras().aura3dCollider;
+        if (!extras?.shape)
+            continue;
+        const m = extras.nodeWorldMatrix && extras.nodeWorldMatrix.length === 16 ? extras.nodeWorldMatrix : node.getWorldMatrix();
+        const scale = transformScale(m);
+        let shape;
+        if (extras.shape === "box") {
+            if (!extras.halfExtents || !extras.center)
+                throw new Error(`collider sidecar node ${node.getName()}: box shape missing halfExtents/center`);
+            const center = transformPoint(m, [extras.center[0], extras.center[1], extras.center[2]]);
+            // Rapier cuboids are axis-aligned in collider space; rotation-baked boxes
+            // become the AABB of the rotated corners (documented approximation).
+            const h = extras.halfExtents;
+            const corners = [];
+            for (const sx of [-1, 1])
+                for (const sy of [-1, 1])
+                    for (const sz of [-1, 1]) {
+                        corners.push(transformPoint(m, [extras.center[0] + sx * h[0], extras.center[1] + sy * h[1], extras.center[2] + sz * h[2]]));
+                    }
+            const min = [Infinity, Infinity, Infinity];
+            const max = [-Infinity, -Infinity, -Infinity];
+            for (const c of corners)
+                for (let i = 0; i < 3; i++) {
+                    if (c[i] < min[i])
+                        min[i] = c[i];
+                    if (c[i] > max[i])
+                        max[i] = c[i];
+                }
+            const half = [(max[0] - min[0]) / 2, (max[1] - min[1]) / 2, (max[2] - min[2]) / 2];
+            if (half.every((v, i) => Math.abs(v - (h[i] * scale)) < 1e-4) && center.every((v) => Math.abs(v) < 1e-6)) {
+                shape = { kind: "box", halfExtents: [h[0] * scale, h[1] * scale, h[2] * scale] };
+            }
+            else {
+                // Off-center or rotated: encode the AABB as a trimesh-free box by
+                // wrapping it in a convex hull of the 8 transformed corners.
+                shape = { kind: "convex-hull", vertices: corners };
+            }
+        }
+        else if (extras.shape === "capsule") {
+            if (extras.radius === undefined || extras.halfHeight === undefined || !extras.center) {
+                throw new Error(`collider sidecar node ${node.getName()}: capsule shape missing radius/halfHeight/center`);
+            }
+            const center = transformPoint(m, [extras.center[0], extras.center[1], extras.center[2]]);
+            if (center.some((v) => Math.abs(v) > 1e-6)) {
+                // Capsules are origin-centred in collider space; an off-centre capsule
+                // is approximated by a convex hull over both cap spheres.
+                const vertices = [];
+                for (const sign of [-1, 1]) {
+                    for (let a = 0; a < 8; a++) {
+                        const t = (a / 8) * Math.PI * 2;
+                        const c = transformPoint(m, [
+                            extras.center[0] + Math.cos(t) * extras.radius,
+                            extras.center[1] + sign * extras.halfHeight,
+                            extras.center[2] + Math.sin(t) * extras.radius
+                        ]);
+                        vertices.push(c);
+                    }
+                }
+                shape = { kind: "convex-hull", vertices };
+            }
+            else {
+                shape = { kind: "capsule", halfHeight: extras.halfHeight * scale, radius: extras.radius * scale };
+            }
+        }
+        else {
+            const vertices = [];
+            const indices = [];
+            const el = [0, 0, 0];
+            for (const prim of mesh.listPrimitives()) {
+                const pos = prim.getAttribute("POSITION");
+                if (!pos)
+                    continue;
+                const idx = prim.getIndices()?.getArray();
+                const base = vertices.length;
+                // getElement dequantizes — the sidecar is meshopt-compressed and its
+                // POSITION accessors are KHR_mesh_quantization integers.
+                for (let i = 0; i < pos.getCount(); i += 1) {
+                    pos.getElement(i, el);
+                    vertices.push(transformPoint(m, [el[0], el[1], el[2]]));
+                }
+                if (idx)
+                    for (const i of idx)
+                        indices.push(base + i);
+                else
+                    for (let i = 0; i < pos.getCount(); i++)
+                        indices.push(base + i);
+            }
+            if (vertices.length === 0)
+                continue;
+            shape = extras.shape === "convex" ? { kind: "convex-hull", vertices } : { kind: "mesh", vertices, indices };
+        }
+        colliders.push(world.createCollider(body, { ...options.collider, shape }));
+        sourceNodes.push(extras.sourceNode ?? node.getName());
+    }
+    return { body, colliders, sourceNodes };
+}
 //# sourceMappingURL=index.js.map

package/dist/index.js.map

@@ -1 +1 @@
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package/package.json

@@ -1,12 +1,15 @@
 {
   "name": "@aura3d/physics-rapier",
-  "version": "3.0.1",
+  "version": "4.0.2",
   "type": "module",
   "main": "./dist/index.js",
   "types": "./dist/index.d.ts",
   "sideEffects": false,
   "dependencies": {
-    "@dimforge/rapier3d-compat": "0.20.0"
+    "@dimforge/rapier3d-compat": "0.20.0",
+    "@gltf-transform/core": "4.5.1",
+    "@gltf-transform/extensions": "4.5.1",
+    "meshoptimizer": "1.2.0"
   },
   "exports": {
     ".": {