@aura3d/physics 3.0.1 → 4.0.0

package/dist/PhysicalCharacterController.d.ts

@@ -0,0 +1,93 @@
+import type { Vec3 } from "./Shape.js";
+/**
+ * Contract area 5 — a physical character moving through a collider world.
+ *
+ * Aura3D's existing character helpers under this area are authored-unit arcade
+ * controllers: they resolve against route-authored ledges and make no claim about
+ * mass or contact. A platformer that wants grounding, slope limits, auto-step over
+ * real geometry and snap-to-ground on descent needs the solver-backed surface, and
+ * until now nothing public offered it — so routes hand-rolled kinematic tracing and
+ * the visible world and the collision world could drift apart.
+ *
+ * `move` takes a desired displacement for the step and returns what the solver
+ * actually allowed, plus the grounding result. Games must render from `applied` /
+ * `position`, never from their own copy of the request, or they reintroduce two
+ * transform authorities.
+ *
+ * The implementation is bridged from `PhysicsWorld`, the only module that reaches
+ * the backend.
+ */
+export interface PhysicsCharacterControllerDescriptor {
+    /** Skin width used to keep the character from embedding into geometry. */
+    readonly offset?: number;
+    /** Step height the character can walk up without jumping. */
+    readonly autoStepHeight?: number;
+    /** Minimum horizontal room a step needs to be walkable. */
+    readonly autoStepMinWidth?: number;
+    /** Let the controller push loose dynamic bodies out of the way. */
+    readonly autoStepIncludeDynamicBodies?: boolean;
+    /** Steepest slope, in radians, the character can stand on. */
+    readonly maxSlopeClimbAngle?: number;
+    /** Distance the controller snaps down onto ground while descending. */
+    readonly snapToGroundDistance?: number;
+    /** Steepest slope, in radians, at which the character slides instead of standing still. */
+    readonly minSlopeSlideAngle?: number;
+    /** Whether the solver may convert an unsupported move into a slope slide. Defaults to true. */
+    readonly slideEnabled?: boolean;
+    /** Mass, in kilograms, used when the character pushes a dynamic body. */
+    readonly characterMass?: number;
+    /** Whether the character physically shoves loose dynamic bodies. */
+    readonly applyImpulsesToDynamicBodies?: boolean;
+}
+export interface PhysicsCharacterMovement {
+    /** The displacement that was asked for. */
+    readonly requested: Vec3;
+    /** The displacement actually taken after contacts. Render from this. */
+    readonly applied: Vec3;
+    readonly grounded: boolean;
+    readonly collisions: number;
+    /** Authoritative post-step position. */
+    readonly position: Vec3;
+}
+/**
+ * A character whose position Rapier owns.
+ *
+ * The split this encodes is deliberate and is the only one that keeps one transform
+ * authority: the *intent* (input plus a gravity integration, in units per second) is
+ * authored by the game, and the *result* (where the capsule ends up, whether it is
+ * standing, whether a slope is too steep) comes back from the collider solver. A route
+ * that also wrote its own position was a second authority, which is exactly how a
+ * visible ledge and a collision ledge end up at different heights.
+ */
+export interface PhysicsCharacterController {
+    /** The collider body that represents the character. Must be kinematic. */
+    readonly bodyId: number;
+    setAutoStep(height: number, minWidth: number, includeDynamicBodies?: boolean): this;
+    setMaxSlopeClimbAngle(radians: number): this;
+    /** Steepest angle at which the character slides rather than standing still. */
+    setMinSlopeSlideAngle(radians: number): this;
+    setSnapToGround(distance: number): this;
+    /** Turn slope sliding off entirely. On a slope the character then sticks, which is rarely wanted. */
+    setSlideEnabled(enabled: boolean): this;
+    /** Mass used when the character shoves a loose dynamic body. */
+    setCharacterMass(mass: number): this;
+    /** Whether touching a dynamic body actually moves it. */
+    setApplyImpulsesToDynamicBodies(enabled: boolean): this;
+    /**
+     * Moves the character by `desired` and reports what the world allowed.
+     * Call once per fixed step, then read `position` / `grounded`.
+     */
+    move(desired: Vec3): PhysicsCharacterMovement;
+    position(): Vec3;
+    /** Grounding from the last `move`. Never re-queries the solver, so it is safe to call from a HUD. */
+    grounded(): boolean;
+    /**
+     * Teleport and forget the queued kinematic step — a respawn or a reset.
+     *
+     * Writing only the mesh leaves Rapier's queued translation in flight, which drags
+     * the character back toward wherever the pre-respawn movement was headed.
+     */
+    resetTo(position: Vec3): Vec3;
+    dispose(): void;
+}
+//# sourceMappingURL=PhysicalCharacterController.d.ts.map

package/dist/PhysicalCharacterController.d.ts.map

@@ -0,0 +1 @@
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package/dist/PhysicalCharacterController.js

@@ -0,0 +1,2 @@
+export {};
+//# sourceMappingURL=PhysicalCharacterController.js.map

package/dist/PhysicalCharacterController.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"PhysicalCharacterController.js","sourceRoot":"","sources":["../../../../packages/physics/src/PhysicalCharacterController.ts"],"names":[],"mappings":""}

package/dist/PhysicalVehicleController.d.ts

@@ -0,0 +1,140 @@
+import type { Vec3 } from "./Shape.js";
+/**
+ * Contract area 6 — a physical, suspension-backed vehicle.
+ *
+ * This file deliberately names no solver. Aura3D already had arcade vehicle
+ * helpers, but they integrate authored speed/steer curves and never claim tyre,
+ * mass or suspension semantics, so a route that wants a vehicle that is actually
+ * planted had nothing public to build on. This is the neutral surface for that:
+ * wheels are described in chassis-local space, drive input is per-wheel, and the
+ * grounding state a game needs for drift/airborne feedback is readable.
+ *
+ * The implementation is bridged from `PhysicsWorld`, which is the only module
+ * allowed to reach the backend.
+ */
+/** Where a wheel sits on the chassis and how its suspension pushes. */
+export interface PhysicsWheelSpec {
+    /** Wheel mount point, chassis-local. */
+    readonly connection: Vec3;
+    /** Suspension travel direction, chassis-local — usually straight down. */
+    readonly direction: Vec3;
+    /** Wheel spin axis, chassis-local — usually across the car. */
+    readonly axle: Vec3;
+    /** Natural spring length in metres. */
+    readonly restLength: number;
+    readonly radius: number;
+    readonly suspensionStiffness?: number;
+    readonly suspensionCompression?: number;
+    readonly suspensionRelaxation?: number;
+    readonly maxSuspensionTravel?: number;
+    readonly maxSuspensionForce?: number;
+    /**
+     * Tyre traction. Larger grips harder; smaller lets the tyre break loose.
+     *
+     * This is the direction the solver defines, and it is the opposite of what a
+     * "slip constant" sounds like. A drift or handbrake is therefore a *reduction*
+     * of this value; raising it to "make it slide" does the reverse and produces a
+     * car that will not step out at all.
+     */
+    readonly frictionSlip?: number;
+    readonly sideFrictionStiffness?: number;
+}
+export interface PhysicsWheelTuning {
+    readonly suspensionStiffness?: number;
+    readonly suspensionCompression?: number;
+    readonly suspensionRelaxation?: number;
+    readonly maxSuspensionTravel?: number;
+    readonly maxSuspensionForce?: number;
+    readonly frictionSlip?: number;
+    readonly sideFrictionStiffness?: number;
+}
+/**
+ * Per-wheel drive input for one step. Only the supplied fields are written, so
+ * steering does not disturb throttle. `engineForce` is newtons, `brake` is an
+ * impulse-scale scalar, `steering` is radians.
+ */
+export interface PhysicsWheelCommand {
+    readonly engineForce?: number;
+    readonly brake?: number;
+    readonly steering?: number;
+}
+export interface PhysicsWheelState {
+    readonly index: number;
+    /** False means this wheel is in the air and contributes no force. */
+    readonly grounded: boolean;
+    readonly contactPoint: Vec3 | null;
+    readonly contactNormal: Vec3 | null;
+    readonly engineForce: number;
+    readonly brake: number;
+    readonly steering: number;
+    readonly suspensionLength: number;
+    readonly rotation: number;
+    readonly frictionSlip: number;
+    /** Force the spring is carrying right now. All four at zero means the car is not supported. */
+    readonly suspensionForce: number;
+    /** Tyre impulse along its rolling direction: the drive and braking traction actually realized. */
+    readonly forwardImpulse: number;
+    /** Tyre impulse across its rolling direction: the lateral grip realized. This is the honest slip signal. */
+    readonly sideImpulse: number;
+    /**
+     * Handle of the collider this tyre is resting on, or `null` in the air.
+     *
+     * A game registers the road and verge colliders and reads this to decide
+     * "on asphalt" from the thing physically holding the car, instead of sampling
+     * its own copy of the track and drifting away from the art.
+     */
+    readonly groundColliderHandle: number | null;
+}
+/** Full physical state to put a chassis back into. Reset is not valid without all of it. */
+export interface PhysicsVehiclePose {
+    readonly position: Vec3;
+    /** Defaults to upright. */
+    readonly rotation?: readonly [number, number, number, number];
+    /** Defaults to zero. A respawn that keeps the old velocity drives off the spawn point. */
+    readonly linearVelocity?: Vec3;
+    /** Defaults to zero. */
+    readonly angularVelocity?: Vec3;
+}
+/** Chassis-local axis index: 0 = x, 1 = y, 2 = z. */
+export type PhysicsVehicleAxis = 0 | 1 | 2;
+export interface PhysicsVehicleController {
+    readonly wheelCount: number;
+    addWheel(spec: PhysicsWheelSpec): this;
+    setWheelTuning(index: number, tuning: PhysicsWheelTuning): this;
+    setWheelCommand(index: number, command: PhysicsWheelCommand): this;
+    /** Same brake on every wheel — the handbrake and full-stop case. */
+    setBrakes(brake: number): this;
+    /** Chassis-local up axis. Getting this wrong makes the car hover or sink. */
+    setAxes(up: PhysicsVehicleAxis, forward: PhysicsVehicleAxis): this;
+    wheelState(index: number): PhysicsWheelState;
+    wheelStates(): readonly PhysicsWheelState[];
+    /** True while any tyre is on the ground — the airborne/drift test. */
+    isGrounded(): boolean;
+    groundedWheelCount(): number;
+    /** Signed speed along the chassis forward axis. */
+    currentSpeed(): number;
+    /** Advances the suspension and tyre model. Call once per fixed step, before the world step. */
+    step(dt: number): void;
+    /**
+     * The transform authority, read back.
+     *
+     * A game renders from these (or from the equivalent `RigidBody` fields the world
+     * syncs after `step`) and never writes the chassis to chase an authored pose.
+     */
+    position(): Vec3;
+    rotation(): readonly [number, number, number, number];
+    linearVelocity(): Vec3;
+    angularVelocity(): Vec3;
+    /**
+     * Put the chassis into a complete physical state and release every drive input.
+     *
+     * This is the reset a restart needs: position, rotation, both velocities, the sleep
+     * state, and the throttle/brake/steering that would otherwise resume on frame one.
+     * Moving the rendered mesh alone leaves the solver driving the old state.
+     */
+    resetToPose(pose: PhysicsVehiclePose): this;
+    /** Zero engine force, brake and steering on every wheel, leaving the chassis where it is. */
+    clearCommands(): this;
+    dispose(): void;
+}
+//# sourceMappingURL=PhysicalVehicleController.d.ts.map

package/dist/PhysicalVehicleController.d.ts.map

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package/dist/PhysicalVehicleController.js

@@ -0,0 +1,2 @@
+export {};
+//# sourceMappingURL=PhysicalVehicleController.js.map

package/dist/PhysicalVehicleController.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"PhysicalVehicleController.js","sourceRoot":"","sources":["../../../../packages/physics/src/PhysicalVehicleController.ts"],"names":[],"mappings":""}

package/dist/PhysicsWorld.d.ts

@@ -3,6 +3,8 @@ import { type CollisionEvent, type Contact } from "./CollisionEvents.js";
 import { Constraint, type ConstraintDescriptor } from "./Constraint.js";
 import { type RaycastHit, type RaycastOptions, type SphereCastHit } from "./Raycast.js";
 import { RigidBody, type RigidBodyDescriptor, type RigidBodySnapshot } from "./RigidBody.js";
+import type { PhysicsCharacterController, PhysicsCharacterControllerDescriptor } from "./PhysicalCharacterController.js";
+import type { PhysicsVehicleController } from "./PhysicalVehicleController.js";
 import { type Vec3 } from "./Shape.js";
 export type PhysicsContinuousCollisionDescriptor = {
     /**
@@ -126,6 +128,8 @@ export declare class PhysicsWorld {
     private readonly rapierBodiesByAuraId;
     private readonly rapierCollidersByAuraId;
     private readonly rapierJointsByConstraint;
+    private readonly vehicleControllers;
+    private readonly characterControllers;
     private nextBodyId;
     private nextColliderId;
     private lastEvents;
@@ -137,6 +141,22 @@ export declare class PhysicsWorld {
     createRigidBody(descriptor?: RigidBodyDescriptor): RigidBody;
     createCollider(body: RigidBody | number, descriptor: ColliderDescriptor): Collider;
     createConstraint(descriptor: ConstraintDescriptor): Constraint;
+    /**
+     * Attach a suspension-backed vehicle to a chassis body.
+     *
+     * The returned controller is the transform authority for the chassis: a game
+     * calls `step(dt)` then `world.step()` and renders from the body, rather than
+     * integrating its own velocity.
+     */
+    createVehicleController(chassis: RigidBody | number): PhysicsVehicleController;
+    /**
+     * Attach a solver-backed character controller to a capsule body.
+     *
+     * `move` returns the displacement the world allowed; callers must render from
+     * the reported position instead of applying their own request a second time.
+     */
+    createCharacterController(body: RigidBody | number, descriptor?: PhysicsCharacterControllerDescriptor): PhysicsCharacterController;
+    private rapierCollidersOf;
     /**
      * Change world gravity after construction.
      *

package/dist/PhysicsWorld.d.ts.map

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

@@ -25,6 +25,8 @@ export class PhysicsWorld {
     rapierBodiesByAuraId = new Map();
     rapierCollidersByAuraId = new Map();
     rapierJointsByConstraint = new Map();
+    vehicleControllers = new Set();
+    characterControllers = new Set();
     nextBodyId = 1;
     nextColliderId = 1;
     lastEvents = [];
@@ -130,6 +132,189 @@ export class PhysicsWorld {
         this.rapierJointsByConstraint.set(constraint, this.createRapierJoint(constraint));
         return constraint;
     }
+    /**
+     * Attach a suspension-backed vehicle to a chassis body.
+     *
+     * The returned controller is the transform authority for the chassis: a game
+     * calls `step(dt)` then `world.step()` and renders from the body, rather than
+     * integrating its own velocity.
+     */
+    createVehicleController(chassis) {
+        const bodyId = typeof chassis === "number" ? chassis : chassis.id;
+        const body = this.bodiesById.get(bodyId);
+        if (!body)
+            throw new Error(`Cannot create a vehicle for missing body ${bodyId}.`);
+        if (body.type !== "dynamic") {
+            throw new Error(`Vehicle chassis body ${bodyId} is '${body.type}', but a suspension-backed vehicle needs a dynamic ` +
+                "chassis. A static or kinematic chassis cannot be pushed by its own tyres, so the wheels would report " +
+                "contact while the car stayed where the route put it — two transform authorities again.");
+        }
+        const rapierBody = this.rapierBodiesByAuraId.get(bodyId);
+        if (!rapierBody)
+            throw new Error(`Cannot create a vehicle for missing body ${bodyId}.`);
+        const handle = this.rapierWorld.createVehicleController(rapierBody);
+        const controller = {
+            get wheelCount() { return handle.wheelCount(); },
+            addWheel: (spec) => { handle.addWheel(spec); return controller; },
+            setWheelTuning: (index, tuning) => { handle.setWheelTuning(index, tuning); return controller; },
+            // Drive input clears the wrapper's sleep flag too. Rapier sleeps a chassis that
+            // has been sitting still, and `syncRapierFromAura` pushes the wrapper's sleep
+            // state onto the solver every step — so without this the world would immediately
+            // put the car back to sleep and the throttle would do nothing.
+            setWheelCommand: (index, command) => { body.wake(); handle.setWheelCommand(index, command); return controller; },
+            setBrakes: (brake) => { body.wake(); handle.setBrakes(brake); return controller; },
+            setAxes: (up, forward) => { handle.upAxis = up; handle.forwardAxis = forward; return controller; },
+            wheelState: (index) => {
+                const state = handle.wheelState(index);
+                return {
+                    index: state.index,
+                    grounded: state.isInContact,
+                    contactPoint: state.contactPoint,
+                    contactNormal: state.contactNormal,
+                    engineForce: state.engineForce,
+                    brake: state.brake,
+                    steering: state.steering,
+                    suspensionLength: state.suspensionLength,
+                    rotation: state.rotation,
+                    frictionSlip: state.frictionSlip,
+                    suspensionForce: state.suspensionForce,
+                    forwardImpulse: state.forwardImpulse,
+                    sideImpulse: state.sideImpulse,
+                    groundColliderHandle: state.groundColliderHandle,
+                };
+            },
+            wheelStates: () => handle.wheelStates().map((state) => controller.wheelState(state.index)),
+            isGrounded: () => handle.isGrounded(),
+            groundedWheelCount: () => handle.groundedWheelCount(),
+            currentSpeed: () => handle.currentVehicleSpeed(),
+            step: (dt) => {
+                // Wheel rays are scene queries, so a car built this frame would otherwise find
+                // no road under any of its four tyres and drop through the circuit.
+                this.rapierWorld.refreshQueries();
+                handle.update(dt);
+            },
+            position: () => handle.chassisPosition(),
+            rotation: () => handle.chassisRotation(),
+            linearVelocity: () => handle.chassisLinearVelocity(),
+            angularVelocity: () => handle.chassisAngularVelocity(),
+            resetToPose: (pose) => {
+                validateFiniteVec3(pose.position, "vehicle reset position");
+                handle.setChassisPose(pose.position, pose.rotation, pose.linearVelocity, pose.angularVelocity);
+                // The public wrapper copy has to agree with the solver immediately, or a route
+                // reading `body.position` between the reset and the next step renders the old
+                // crash pose for one frame.
+                syncAuraFromRapier(rapierBody, body);
+                return controller;
+            },
+            clearCommands: () => { handle.clearWheelCommands(); return controller; },
+            dispose: () => { this.vehicleControllers.delete(handle); handle.dispose(); },
+        };
+        this.vehicleControllers.add(handle);
+        return controller;
+    }
+    /**
+     * Attach a solver-backed character controller to a capsule body.
+     *
+     * `move` returns the displacement the world allowed; callers must render from
+     * the reported position instead of applying their own request a second time.
+     */
+    createCharacterController(body, descriptor = {}) {
+        const bodyId = typeof body === "number" ? body : body.id;
+        const wrapper = this.bodiesById.get(bodyId);
+        if (!wrapper)
+            throw new Error(`Cannot create a character controller for missing body ${bodyId}.`);
+        if (wrapper.type !== "kinematic") {
+            throw new Error(`Character body ${bodyId} is '${wrapper.type}', but Aura3D's physical character controller is a kinematic ` +
+                "character controller: the game supplies a desired displacement and Rapier resolves it against the world. " +
+                "A dynamic body is moved by forces instead, which would give the transform two owners.");
+        }
+        const rapierBody = this.rapierBodiesByAuraId.get(bodyId);
+        if (!rapierBody)
+            throw new Error(`Cannot create a character controller for missing body ${bodyId}.`);
+        const colliders = this.rapierCollidersOf(bodyId);
+        if (colliders.length === 0)
+            throw new Error(`Character body ${bodyId} needs a collider before it can move.`);
+        const handle = this.rapierWorld.createCharacterController(descriptor.offset ?? 0.01);
+        if (descriptor.autoStepHeight !== undefined) {
+            handle.enableAutostep(descriptor.autoStepHeight, descriptor.autoStepMinWidth ?? 0.2, descriptor.autoStepIncludeDynamicBodies ?? false);
+        }
+        if (descriptor.maxSlopeClimbAngle !== undefined)
+            handle.setMaxSlopeClimbAngle(descriptor.maxSlopeClimbAngle);
+        if (descriptor.minSlopeSlideAngle !== undefined)
+            handle.setMinSlopeSlideAngle(descriptor.minSlopeSlideAngle);
+        if (descriptor.snapToGroundDistance !== undefined)
+            handle.enableSnapToGround(descriptor.snapToGroundDistance);
+        if (descriptor.slideEnabled !== undefined)
+            handle.setSlideEnabled(descriptor.slideEnabled);
+        if (descriptor.characterMass !== undefined)
+            handle.setCharacterMass(descriptor.characterMass);
+        if (descriptor.applyImpulsesToDynamicBodies !== undefined)
+            handle.setApplyImpulsesToDynamicBodies(descriptor.applyImpulsesToDynamicBodies);
+        this.characterControllers.add(handle);
+        const characterCollider = colliders[0];
+        const controller = {
+            bodyId,
+            setAutoStep: (height, minWidth, includeDynamicBodies) => { handle.enableAutostep(height, minWidth, includeDynamicBodies ?? false); return controller; },
+            setMaxSlopeClimbAngle: (radians) => { handle.setMaxSlopeClimbAngle(radians); return controller; },
+            setMinSlopeSlideAngle: (radians) => { handle.setMinSlopeSlideAngle(radians); return controller; },
+            setSnapToGround: (distance) => { handle.enableSnapToGround(distance); return controller; },
+            setSlideEnabled: (enabled) => { handle.setSlideEnabled(enabled); return controller; },
+            setCharacterMass: (mass) => { handle.setCharacterMass(mass); return controller; },
+            setApplyImpulsesToDynamicBodies: (enabled) => { handle.setApplyImpulsesToDynamicBodies(enabled); return controller; },
+            move: (desired) => {
+                validateFiniteVec3(desired, "character movement");
+                // Rapier only rebuilds its scene-query structure inside `step()`. Without this,
+                // the first move after the character and level are created queries a world the
+                // solver cannot see yet and walks the character straight through the floor it is
+                // standing on — with no error, and with `grounded: false` to confirm it.
+                this.rapierWorld.refreshQueries();
+                const movement = handle.move(characterCollider, [desired[0], desired[1], desired[2]]);
+                const position = [movement.nextPosition[0], movement.nextPosition[1], movement.nextPosition[2]];
+                // The wrapper tracks the solver's answer in place rather than waiting for the
+                // next `step()`, so a route that renders the character before stepping still
+                // renders where the world said it is.
+                wrapper.position = [position[0], position[1], position[2]];
+                wrapper.poseOverridden = false;
+                return {
+                    requested: [movement.requested[0], movement.requested[1], movement.requested[2]],
+                    applied: [movement.applied[0], movement.applied[1], movement.applied[2]],
+                    grounded: movement.grounded,
+                    collisions: movement.collisions,
+                    position
+                };
+            },
+            position: () => {
+                const rapier = this.rapierBodiesByAuraId.get(bodyId);
+                if (!rapier)
+                    return [0, 0, 0];
+                const p = rapier.position();
+                return [p[0], p[1], p[2]];
+            },
+            grounded: () => handle.lastGrounded,
+            resetTo: (position) => {
+                validateFiniteVec3(position, "character reset position");
+                const reset = handle.setPosition(characterCollider, [position[0], position[1], position[2]]);
+                wrapper.position = [reset[0], reset[1], reset[2]];
+                wrapper.previousPosition = [reset[0], reset[1], reset[2]];
+                wrapper.velocity = [0, 0, 0];
+                wrapper.angularVelocity = [0, 0, 0];
+                wrapper.poseOverridden = false;
+                wrapper.velocityOverridden = false;
+                return reset;
+            },
+            dispose: () => { this.characterControllers.delete(handle); handle.dispose(); },
+        };
+        return controller;
+    }
+    rapierCollidersOf(bodyId) {
+        const out = [];
+        for (const colliderId of this.bodyColliders.get(bodyId) ?? []) {
+            const rapier = this.rapierCollidersByAuraId.get(colliderId);
+            if (rapier)
+                out.push(rapier);
+        }
+        return out;
+    }
     /**
      * Change world gravity after construction.
      *
@@ -292,6 +477,8 @@ export class PhysicsWorld {
     /** Release the selected native solver and every world-owned handle. Idempotent. */
     dispose() {
         this.rapierWorld.dispose();
+        this.vehicleControllers.clear();
+        this.characterControllers.clear();
         this.rapierJointsByConstraint.clear();
         this.rapierCollidersByAuraId.clear();
         this.rapierBodiesByAuraId.clear();
@@ -660,10 +847,29 @@ function encodeRapierCollisionGroups(layer, mask) {
 /** Mirror the public Aura body state onto its sole physical-simulation owner. */
 function syncRapierFromAura(body, rapierBody) {
     const raw = rapierBody.unsafeRapierBody();
+    // The pose is re-written every step; ONLY the velocity is gated behind an explicit
+    // request. The distinction matters because the two writes have different meanings to
+    // the solver. `setLinvel`/`setAngvel` overwrite the motion the solver integrated, so
+    // pushing them unconditionally made the Aura wrapper the *velocity* authority and a
+    // vehicle whose tyres had just written chassis velocity in Rapier never accelerated —
+    // hence `velocityOverridden`, which keeps the solver authoritative for motion.
+    //
+    // `setTranslation`/`setRotation`, however, write the pose the solver itself produced
+    // last step (the wrapper copy is re-read from Rapier at the end of every `step`), so
+    // for a free body they are not a second authority — they are a per-step refresh of the
+    // solver's own transform bookkeeping. Dropping them (an over-broad first pass at the
+    // velocity fix) subtly changed how the multi-substep contact solver warm-started a
+    // fast dynamic-on-dynamic impact, so a golf ball striking a crate stack no longer flung
+    // the top crate into the pin. Pose is therefore always re-written; the `poseOverridden`
+    // flag still marks an explicit teleport, but is not required for the routine refresh.
     raw.setTranslation(toRapierVector(body.position), false);
     raw.setRotation({ x: body.rotation[0], y: body.rotation[1], z: body.rotation[2], w: body.rotation[3] }, false);
-    raw.setLinvel(toRapierVector(body.velocity), false);
-    raw.setAngvel(toRapierVector(body.angularVelocity), false);
+    body.poseOverridden = false;
+    if (body.velocityOverridden) {
+        raw.setLinvel(toRapierVector(body.velocity), false);
+        raw.setAngvel(toRapierVector(body.angularVelocity), false);
+        body.velocityOverridden = false;
+    }
     raw.setLinearDamping(body.linearDamping);
     raw.setAngularDamping(body.angularDamping);
     if (body.sleeping)
@@ -736,7 +942,15 @@ function pushPotentialPair(pairs, seen, a, b) {
     if (a.collider.bodyId === b.collider.bodyId || !a.collider.canCollideWith(b.collider)) {
         return;
     }
-    if (a.body.type !== "dynamic" && b.body.type !== "dynamic") {
+    // A sensor is a question, not an impulse: a gameplay volume has to answer even when
+    // the thing crossing it is a kinematic character or a scripted lift, neither of which
+    // any solver will ever push. Requiring a dynamic partner here meant checkpoint,
+    // pickup and hazard volumes reported nothing at all for the one body type a platformer
+    // character actually uses.
+    if (a.collider.sensor || b.collider.sensor) {
+        // no motion requirement
+    }
+    else if (a.body.type !== "dynamic" && b.body.type !== "dynamic") {
         return;
     }
     const first = a.collider.id < b.collider.id ? a : b;

package/dist/PhysicsWorld.js.map

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package/dist/RigidBody.d.ts

@@ -56,12 +56,31 @@ export declare class RigidBody {
     private accumulatedForce;
     private accumulatedTorque;
     constructor(id: number, descriptor?: RigidBodyDescriptor);
+    /**
+     * A caller wrote the pose since the solver last owned it.
+     *
+     * The world step used to copy Aura state into the solver unconditionally, which
+     * overwrote whatever the solver produced — including the velocity a vehicle
+     * controller had just integrated from its suspension and tyres. These flags make
+     * the write an explicit teleport request instead of a per-step clobber, so the
+     * solver is the only transform authority unless a game deliberately takes it back.
+     */
+    poseOverridden: boolean;
+    velocityOverridden: boolean;
     setPosition(position: Vec3): void;
     setVelocity(velocity: Vec3): void;
     setRotation(rotation: Quat): void;
     setAngularVelocity(angularVelocity: Vec3): void;
     applyForce(force: Vec3): void;
     applyTorque(torque: Vec3): void;
+    /**
+     * Impulse, applied as a velocity change.
+     *
+     * The wrapper copy is up to date whenever this runs — it is re-read from the solver
+     * at the end of every `PhysicsWorld.step` — so adding the delta here and handing the
+     * result to the solver below is the same arithmetic the solver would do, without the
+     * wrapper keeping a second copy of the motion for itself.
+     */
     applyImpulse(impulse: Vec3): void;
     applyAngularImpulse(impulse: Vec3): void;
     applyImpulseAtPoint(impulse: Vec3, worldPoint: Vec3): void;

package/dist/RigidBody.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"RigidBody.d.ts","sourceRoot":"","sources":["../../../../packages/physics/src/RigidBody.ts"],"names":[],"mappings":"AAAA,OAAO,EAAuE,KAAK,IAAI,EAAQ,MAAM,YAAY,CAAC;AAElH,MAAM,MAAM,aAAa,GAAG,SAAS,GAAG,QAAQ,GAAG,WAAW,CAAC;AAC/D,MAAM,MAAM,IAAI,GAAG,SAAS,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;AAE7D,MAAM,MAAM,mBAAmB,GAAG;IAChC,QAAQ,CAAC,IAAI,CAAC,EAAE,aAAa,CAAC;IAC9B,QAAQ,CAAC,QAAQ,CAAC,EAAE,IAAI,CAAC;IACzB,QAAQ,CAAC,QAAQ,CAAC,EAAE,IAAI,CAAC;IACzB,QAAQ,CAAC,QAAQ,CAAC,EAAE,IAAI,CAAC;IACzB,QAAQ,CAAC,eAAe,CAAC,EAAE,IAAI,CAAC;IAChC,QAAQ,CAAC,IAAI,CAAC,EAAE,MAAM,CAAC;IACvB,QAAQ,CAAC,OAAO,CAAC,EAAE,IAAI,CAAC;IACxB,QAAQ,CAAC,aAAa,CAAC,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,cAAc,CAAC,EAAE,MAAM,CAAC;IACjC,QAAQ,CAAC,WAAW,CAAC,EAAE,MAAM,CAAC;IAC9B,QAAQ,CAAC,QAAQ,CAAC,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,QAAQ,CAAC,EAAE,OAAO,CAAC;CAC7B,CAAC;AAEF,MAAM,MAAM,iBAAiB,GAAG;IAC9B,QAAQ,CAAC,EAAE,EAAE,MAAM,CAAC;IACpB,QAAQ,CAAC,IAAI,EAAE,aAAa,CAAC;IAC7B,QAAQ,CAAC,QAAQ,EAAE,IAAI,CAAC;IACxB,QAAQ,CAAC,QAAQ,EAAE,IAAI,CAAC;IACxB,QAAQ,CAAC,QAAQ,EAAE,IAAI,CAAC;IACxB,QAAQ,CAAC,eAAe,EAAE,IAAI,CAAC;IAC/B,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,cAAc,EAAE,IAAI,CAAC;IAC9B,QAAQ,CAAC,QAAQ,EAAE,OAAO,CAAC;CAC5B,CAAC;AAEF,qBAAa,SAAS;IACpB,QAAQ,CAAC,EAAE,EAAE,MAAM,CAAC;IACpB,QAAQ,CAAC,IAAI,EAAE,aAAa,CAAC;IAC7B,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IACnC,gBAAgB,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IAC3C,QAAQ,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IAC3C,gBAAgB,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IACnD,QAAQ,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IACnC,eAAe,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IAC1C,aAAa,EAAE,MAAM,CAAC;IACtB,cAAc,EAAE,MAAM,CAAC;IACvB,cAAc,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IACzC;;;;;;;OAOG;IACH,QAAQ,CAAC,eAAe,CAAC,EAAE,IAAI,CAAC;IAChC,QAAQ,EAAE,OAAO,CAAC;IAClB,OAAO,CAAC,gBAAgB,CAA2B;IACnD,OAAO,CAAC,iBAAiB,CAA2B;gBAExC,EAAE,EAAE,MAAM,EAAE,UAAU,GAAE,mBAAwB;IA8C5D;;;;;;;;OAQG;IACH,cAAc,UAAS;IACvB,kBAAkB,UAAS;IAE3B,WAAW,CAAC,QAAQ,EAAE,IAAI,GAAG,IAAI;IAQjC,WAAW,CAAC,QAAQ,EAAE,IAAI,GAAG,IAAI;IAOjC,WAAW,CAAC,QAAQ,EAAE,IAAI,GAAG,IAAI;IAOjC,kBAAkB,CAAC,eAAe,EAAE,IAAI,GAAG,IAAI;IAO/C,UAAU,CAAC,KAAK,EAAE,IAAI,GAAG,IAAI;IAS7B,WAAW,CAAC,MAAM,EAAE,IAAI,GAAG,IAAI;IAS/B;;;;;;;OAOG;IACH,YAAY,CAAC,OAAO,EAAE,IAAI,GAAG,IAAI;IAUjC,mBAAmB,CAAC,OAAO,EAAE,IAAI,GAAG,IAAI;IAUxC,mBAAmB,CAAC,OAAO,EAAE,IAAI,EAAE,UAAU,EAAE,IAAI,GAAG,IAAI;IAU1D,2BAA2B,CAAC,KAAK,EAAE,IAAI,GAAG,IAAI;IAS9C;;;;OAIG;IACH,YAAY,IAAI,IAAI;IAIpB,wEAAwE;IACxE,aAAa,IAAI,IAAI;IAIrB,WAAW,IAAI,IAAI;IAKnB,YAAY,IAAI,MAAM;IAKtB,IAAI,IAAI,IAAI;IAOZ,KAAK,IAAI,IAAI;IAUb,QAAQ,IAAI,iBAAiB;CAc9B"}

package/dist/RigidBody.js

@@ -32,7 +32,7 @@ export class RigidBody {
             throw new Error("RigidBody id must be a positive integer.");
         }
         this.id = id;
-        this.type = descriptor.type ?? "dynamic";
+        this.type = normalizeRigidBodyType(descriptor.type);
         this.position = cloneVec3(descriptor.position ?? vec3());
         this.previousPosition = cloneVec3(this.position);
         this.rotation = normalizeQuat(descriptor.rotation ?? [0, 0, 0, 1]);
@@ -73,25 +73,40 @@ export class RigidBody {
         this.accumulatedForce = vec3();
         this.accumulatedTorque = vec3();
     }
+    /**
+     * A caller wrote the pose since the solver last owned it.
+     *
+     * The world step used to copy Aura state into the solver unconditionally, which
+     * overwrote whatever the solver produced — including the velocity a vehicle
+     * controller had just integrated from its suspension and tyres. These flags make
+     * the write an explicit teleport request instead of a per-step clobber, so the
+     * solver is the only transform authority unless a game deliberately takes it back.
+     */
+    poseOverridden = false;
+    velocityOverridden = false;
     setPosition(position) {
         validateFiniteVec3(position, "body position");
         this.previousPosition = cloneVec3(this.position);
         this.position = cloneVec3(position);
+        this.poseOverridden = true;
         this.wake();
     }
     setVelocity(velocity) {
         validateFiniteVec3(velocity, "body velocity");
         this.velocity = cloneVec3(velocity);
+        this.velocityOverridden = true;
         this.wake();
     }
     setRotation(rotation) {
         this.previousRotation = cloneQuat(this.rotation);
         this.rotation = normalizeQuat(rotation);
+        this.poseOverridden = true;
         this.wake();
     }
     setAngularVelocity(angularVelocity) {
         validateFiniteVec3(angularVelocity, "body angularVelocity");
         this.angularVelocity = cloneVec3(angularVelocity);
+        this.velocityOverridden = true;
         this.wake();
     }
     applyForce(force) {
@@ -110,12 +125,21 @@ export class RigidBody {
         this.accumulatedTorque = addVec3(this.accumulatedTorque, torque);
         this.wake();
     }
+    /**
+     * Impulse, applied as a velocity change.
+     *
+     * The wrapper copy is up to date whenever this runs — it is re-read from the solver
+     * at the end of every `PhysicsWorld.step` — so adding the delta here and handing the
+     * result to the solver below is the same arithmetic the solver would do, without the
+     * wrapper keeping a second copy of the motion for itself.
+     */
     applyImpulse(impulse) {
         validateFiniteVec3(impulse, "impulse");
         if (this.type !== "dynamic") {
             return;
         }
         this.velocity = addVec3(this.velocity, scaleVec3(impulse, this.inverseMass));
+        this.velocityOverridden = true;
         this.wake();
     }
     applyAngularImpulse(impulse) {
@@ -124,6 +148,7 @@ export class RigidBody {
             return;
         }
         this.angularVelocity = addVec3(this.angularVelocity, this.multiplyInverseInertiaWorld(impulse));
+        this.velocityOverridden = true;
         this.wake();
     }
     applyImpulseAtPoint(impulse, worldPoint) {
@@ -197,6 +222,26 @@ export class RigidBody {
 function cloneQuat(value) {
     return [value[0], value[1], value[2], value[3]];
 }
+/**
+ * Reject a body type that is not one of Aura3D's three.
+ *
+ * The constructor used to fall through to `"dynamic"` for anything it did not
+ * recognise, so the very common solver spelling `"fixed"` — and `"kinematic-position"`,
+ * `"static-body"`, a stray capital — silently produced a *dynamic* floor. That is the
+ * worst version of this bug: the level still holds because a 30 m box barely moves, and
+ * the defect only shows up as the world drifting when something heavy hits it.
+ */
+function normalizeRigidBodyType(type) {
+    if (type === undefined)
+        return "dynamic";
+    if (type === "dynamic" || type === "static" || type === "kinematic")
+        return type;
+    const suggestion = type === "fixed" || type === "static-body" || type === "kinematic-position" || type === "kinematic-velocity"
+        ? ` Did you mean '${type === "fixed" || type === "static-body" ? "static" : "kinematic"}'?`
+        : "";
+    throw new Error(`Unknown rigid body type '${String(type)}'. Aura3D bodies are 'dynamic', 'static' or 'kinematic'.${suggestion} ` +
+        "Guessing 'dynamic' here would make a level floor fall under its own load.");
+}
 function normalizeQuat(value) {
     if (value.length !== 4 || !Number.isFinite(value[0]) || !Number.isFinite(value[1]) || !Number.isFinite(value[2]) || !Number.isFinite(value[3])) {
         throw new Error("body rotation must be a finite quaternion.");

package/dist/RigidBody.js.map

@@ -1 +1 @@
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package/dist/Shape.d.ts

@@ -1,4 +1,10 @@
 export type Vec3 = readonly [number, number, number];
+export declare const EPSILON = 1e-8;
+export declare function vec3(x?: number, y?: number, z?: number): [number, number, number];
+export declare function addVec3(a: Vec3, b: Vec3): [number, number, number];
+export declare function subVec3(a: Vec3, b: Vec3): [number, number, number];
+export declare function scaleVec3(a: Vec3, scalar: number): [number, number, number];
+export declare function lengthVec3(a: Vec3): number;
 export type BoxShape = {
     readonly kind: "box";
     readonly halfExtents: Vec3;
@@ -39,14 +45,8 @@ export type Bounds = {
     readonly min: Vec3;
     readonly max: Vec3;
 };
-export declare const EPSILON = 1e-9;
-export declare function vec3(x?: number, y?: number, z?: number): [number, number, number];
 export declare function cloneVec3(value: Vec3): [number, number, number];
-export declare function addVec3(a: Vec3, b: Vec3): [number, number, number];
-export declare function subVec3(a: Vec3, b: Vec3): [number, number, number];
-export declare function scaleVec3(value: Vec3, scalar: number): [number, number, number];
 export declare function dotVec3(a: Vec3, b: Vec3): number;
-export declare function lengthVec3(value: Vec3): number;
 export declare function normalizeVec3(value: Vec3): [number, number, number];
 export declare function minVec3(a: Vec3, b: Vec3): [number, number, number];
 export declare function maxVec3(a: Vec3, b: Vec3): [number, number, number];

package/dist/Shape.d.ts.map

@@ -1 +1 @@
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package/dist/Shape.js

@@ -1,31 +1,37 @@
-export const EPSILON = 1e-9;
+// physics is tier 0 — these tuple helpers are defined locally so the package
+// keeps zero Aura3D dependencies (scene/MathTypes lives at tier 1). Helpers
+// return mutable tuples so callers may assign them into mutable positions.
+export const EPSILON = 1e-8;
 export function vec3(x = 0, y = 0, z = 0) {
     return [x, y, z];
 }
-export function cloneVec3(value) {
-    return [value[0], value[1], value[2]];
-}
 export function addVec3(a, b) {
     return [a[0] + b[0], a[1] + b[1], a[2] + b[2]];
 }
 export function subVec3(a, b) {
     return [a[0] - b[0], a[1] - b[1], a[2] - b[2]];
 }
-export function scaleVec3(value, scalar) {
-    return [value[0] * scalar, value[1] * scalar, value[2] * scalar];
+export function scaleVec3(a, scalar) {
+    return [a[0] * scalar, a[1] * scalar, a[2] * scalar];
+}
+export function lengthVec3(a) {
+    return Math.sqrt(a[0] * a[0] + a[1] * a[1] + a[2] * a[2]);
+}
+function normalizeCanonicalVec3(a) {
+    const len = lengthVec3(a);
+    return [a[0] / len, a[1] / len, a[2] / len];
+}
+export function cloneVec3(value) {
+    return [value[0], value[1], value[2]];
 }
 export function dotVec3(a, b) {
     return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
 }
-export function lengthVec3(value) {
-    return Math.hypot(value[0], value[1], value[2]);
-}
 export function normalizeVec3(value) {
-    const length = lengthVec3(value);
-    if (length <= EPSILON) {
+    if (lengthVec3(value) <= EPSILON) {
         throw new Error("Cannot normalize a zero-length vector.");
     }
-    return [value[0] / length, value[1] / length, value[2] / length];
+    return normalizeCanonicalVec3(value);
 }
 export function minVec3(a, b) {
     return [Math.min(a[0], b[0]), Math.min(a[1], b[1]), Math.min(a[2], b[2])];

package/dist/Shape.js.map

@@ -1 +1 @@
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package/dist/index.d.ts

@@ -62,11 +62,13 @@ export * from "./Raycast.js";
 export * from "./TimeOfImpact.js";
 export * from "./MeshBVH.js";
 export * from "./SurfaceQuery.js";
+export * from "./PhysicalCharacterController.js";
 export * from "./ArcadeCharacterController.js";
 export * from "./FightingCharacterController.js";
 export * from "./KinematicBody.js";
 export * from "./KinematicWorld.js";
 export * from "./HitboxWorld.js";
+export * from "./PhysicalVehicleController.js";
 export * from "./ArcadeVehicleTelemetry.js";
 export * from "./PhysicsWorld.js";
 export * from "./PhysicsStepper.js";

package/dist/index.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../../../../packages/physics/src/index.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAoDG;AAGH,cAAc,YAAY,CAAC;AAC3B,cAAc,gBAAgB,CAAC;AAG/B,cAAc,eAAe,CAAC;AAC9B,cAAc,sBAAsB,CAAC;AACrC,cAAc,uBAAuB,CAAC;AAGtC,cAAc,iBAAiB,CAAC;AAChC,cAAc,kBAAkB,CAAC;AAGjC,cAAc,cAAc,CAAC;AAC7B,cAAc,mBAAmB,CAAC;AAClC,cAAc,cAAc,CAAC;AAC7B,cAAc,mBAAmB,CAAC;AAGlC,cAAc,kCAAkC,CAAC;AACjD,cAAc,gCAAgC,CAAC;AAC/C,cAAc,kCAAkC,CAAC;AACjD,cAAc,oBAAoB,CAAC;AACnC,cAAc,qBAAqB,CAAC;AACpC,cAAc,kBAAkB,CAAC;AAGjC,cAAc,gCAAgC,CAAC;AAC/C,cAAc,6BAA6B,CAAC;AAG5C,cAAc,mBAAmB,CAAC;AAClC,cAAc,qBAAqB,CAAC;AAGpC,cAAc,yBAAyB,CAAC;AACxC,cAAc,uBAAuB,CAAC;AACtC,cAAc,uBAAuB,CAAC"}

package/dist/index.js

@@ -67,12 +67,14 @@ export * from "./TimeOfImpact.js";
 export * from "./MeshBVH.js";
 export * from "./SurfaceQuery.js";
 // --- 5. Character controllers ---
+export * from "./PhysicalCharacterController.js";
 export * from "./ArcadeCharacterController.js";
 export * from "./FightingCharacterController.js";
 export * from "./KinematicBody.js";
 export * from "./KinematicWorld.js";
 export * from "./HitboxWorld.js";
 // --- 6. Vehicle, and the racing layer above the solver ---
+export * from "./PhysicalVehicleController.js";
 export * from "./ArcadeVehicleTelemetry.js";
 // --- 7. Deterministic stepping ---
 export * from "./PhysicsWorld.js";

package/dist/index.js.map

@@ -1 +1 @@
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+{"version":3,"file":"index.js","sourceRoot":"","sources":["../../../../packages/physics/src/index.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAoDG;AAEH,uFAAuF;AACvF,cAAc,YAAY,CAAC;AAC3B,cAAc,gBAAgB,CAAC;AAE/B,iFAAiF;AACjF,cAAc,eAAe,CAAC;AAC9B,cAAc,sBAAsB,CAAC;AACrC,cAAc,uBAAuB,CAAC;AAEtC,oBAAoB;AACpB,cAAc,iBAAiB,CAAC;AAChC,cAAc,kBAAkB,CAAC;AAEjC,4DAA4D;AAC5D,cAAc,cAAc,CAAC;AAC7B,cAAc,mBAAmB,CAAC;AAClC,cAAc,cAAc,CAAC;AAC7B,cAAc,mBAAmB,CAAC;AAElC,mCAAmC;AACnC,cAAc,kCAAkC,CAAC;AACjD,cAAc,gCAAgC,CAAC;AAC/C,cAAc,kCAAkC,CAAC;AACjD,cAAc,oBAAoB,CAAC;AACnC,cAAc,qBAAqB,CAAC;AACpC,cAAc,kBAAkB,CAAC;AAEjC,4DAA4D;AAC5D,cAAc,gCAAgC,CAAC;AAC/C,cAAc,6BAA6B,CAAC;AAE5C,oCAAoC;AACpC,cAAc,mBAAmB,CAAC;AAClC,cAAc,qBAAqB,CAAC;AAEpC,oDAAoD;AACpD,cAAc,yBAAyB,CAAC;AACxC,cAAc,uBAAuB,CAAC;AACtC,cAAc,uBAAuB,CAAC"}

package/package.json

@@ -1,12 +1,12 @@
 {
   "name": "@aura3d/physics",
-  "version": "3.0.1",
+  "version": "4.0.0",
   "type": "module",
   "main": "./dist/index.js",
   "types": "./dist/index.d.ts",
   "sideEffects": false,
   "dependencies": {
-    "@aura3d/physics-rapier": "3.0.1"
+    "@aura3d/physics-rapier": "4.0.0"
   },
   "exports": {
     ".": {