@gg-web-engine/rapier3d 0.0.69 → 0.0.71

package/dist/components/rapier-3d-character-controller.component.d.ts

@@ -50,7 +50,6 @@ export declare class Rapier3dCharacterControllerComponent implements ICharacterC
      * Rapier's character controller supports excluding specific colliders from a single query
      * natively, so no such trick is needed here. */
     readonly ignoredBodies: Set<Rapier3dRigidBodyComponent>;
-    private static warnedMissingDtForPush;
     protected _nativeBody: RigidBody | null;
     protected _nativeCollider: Collider | null;
     protected _nativeController: KinematicCharacterController | null;

package/dist/components/rapier-3d-character-controller.component.js

@@ -1,4 +1,4 @@
-import { BitMask, DebugBody3DSettings, Pnt3, Qtrn, } from '@gg-web-engine/core';
+import { BitMask, DebugBody3DSettings, Pnt3, Qtrn, warnOnce, } from '@gg-web-engine/core';
 import { Quaternion, RigidBodyDesc, Vector3, } from '@dimforge/rapier3d-compat';
 /**
  * A capsule-shaped kinematic character controller backed by Rapier's own `KinematicCharacterController`
@@ -253,13 +253,10 @@ export class Rapier3dCharacterControllerComponent {
         // `dt` - silently wrong, not just imprecise - so skip the push for this tick instead when `dt`
         // isn't available, same as `AmmoCharacterControllerComponent.pushDynamicBody`.
         if (!dt || dt <= 1e-9) {
-            if (!Rapier3dCharacterControllerComponent.warnedMissingDtForPush) {
-                Rapier3dCharacterControllerComponent.warnedMissingDtForPush = true;
-                console.warn('[Rapier3dCharacterControllerComponent] move() was called without `dt` while `pushMass` > ' +
-                    '0 - skipping this dynamic-body push rather than approximating character speed from raw ' +
-                    'per-tick displacement (which would understate push force by roughly 1/dt). Pass the ' +
-                    'real tick delta (seconds) as the third argument to move() to enable pushing dynamic bodies.');
-            }
+            warnOnce('[Rapier3dCharacterControllerComponent] move() was called without `dt` while `pushMass` > ' +
+                '0 - skipping this dynamic-body push rather than approximating character speed from raw ' +
+                'per-tick displacement (which would understate push force by roughly 1/dt). Pass the ' +
+                'real tick delta (seconds) as the third argument to move() to enable pushing dynamic bodies.');
             return;
         }
         const direction = Pnt3.scalarMult(horizontal, 1 / horizLen);
@@ -423,7 +420,3 @@ export class Rapier3dCharacterControllerComponent {
         }
     }
 }
-// Module-wide (not per-instance) so a scene with several characters all being driven without
-// `dt` still only logs once, not once per character per tick - see `pushDynamicBodies`'s
-// missing-`dt` handling below.
-Rapier3dCharacterControllerComponent.warnedMissingDtForPush = false;

package/dist/components/rapier-3d-rigid-body.component.d.ts

@@ -8,7 +8,7 @@ export declare class Rapier3dRigidBodyComponent implements IRigidBody3dComponent
     protected _colliderDescr: ColliderDesc[];
     readonly shape: Shape3DDescriptor;
     protected _bodyDescr: RigidBodyDesc;
-    protected _colliderOptions: Omit<Omit<Body3DOptions, 'dynamic'>, 'mass'>;
+    protected _colliderOptions: Omit<Omit<Body3DOptions, 'bodyType'>, 'mass'>;
     entity: Entity3d | null;
     get position(): Point3;
     set position(value: Point3);
@@ -55,9 +55,9 @@ export declare class Rapier3dRigidBodyComponent implements IRigidBody3dComponent
         ColliderDesc[],
         Shape3DDescriptor,
         RigidBodyDesc,
-        Omit<Omit<Body3DOptions, 'dynamic'>, 'mass'>
+        Omit<Omit<Body3DOptions, 'bodyType'>, 'mass'>
     ];
-    constructor(world: Rapier3dWorldComponent, _colliderDescr: ColliderDesc[], shape: Shape3DDescriptor, _bodyDescr: RigidBodyDesc, _colliderOptions: Omit<Omit<Body3DOptions, 'dynamic'>, 'mass'>);
+    constructor(world: Rapier3dWorldComponent, _colliderDescr: ColliderDesc[], shape: Shape3DDescriptor, _bodyDescr: RigidBodyDesc, _colliderOptions: Omit<Omit<Body3DOptions, 'bodyType'>, 'mass'>);
     protected collisionGroups: InteractionGroups;
     get interactWithCollisionGroups(): ReadonlyArray<CollisionGroup>;
     set interactWithCollisionGroups(value: ReadonlyArray<CollisionGroup> | 'all');

package/dist/components/rapier-3d-rigid-body.component.js

@@ -1,5 +1,5 @@
 import { BitMask, DebugBody3DSettings, Pnt3, Qtrn, } from '@gg-web-engine/core';
-import { ColliderDesc, Quaternion, RigidBodyDesc, Vector3, } from '@dimforge/rapier3d-compat';
+import { ColliderDesc, Quaternion, RigidBodyDesc, RigidBodyType, Vector3, } from '@dimforge/rapier3d-compat';
 import { Subject } from 'rxjs';
 export class Rapier3dRigidBodyComponent {
     get position() {
@@ -7,7 +7,18 @@ export class Rapier3dRigidBodyComponent {
     }
     set position(value) {
         if (this.nativeBody) {
-            this.nativeBody.setTranslation(new Vector3(value.x, value.y, value.z), true);
+            // A `kinematicPositionBased` body must move through `setNextKinematicTranslation` rather
+            // than the immediate teleport `setTranslation` does - only that path lets Rapier derive the
+            // body's effective velocity for this step and correctly push/wake dynamic bodies in its way
+            // (see `BodyOptions.kinematic_pos`'s own doc, and the "plain teleport" pitfall it links to).
+            // `kinematicVelocityBased` and `dynamic` bodies keep the immediate teleport - the former is
+            // already driven by `linearVelocity` each step, not by `position` writes.
+            if (this.nativeBody.bodyType() === RigidBodyType.KinematicPositionBased) {
+                this.nativeBody.setNextKinematicTranslation(new Vector3(value.x, value.y, value.z));
+            }
+            else {
+                this.nativeBody.setTranslation(new Vector3(value.x, value.y, value.z), true);
+            }
         }
         else {
             this._bodyDescr.setTranslation(value.x, value.y, value.z);
@@ -18,7 +29,14 @@ export class Rapier3dRigidBodyComponent {
     }
     set rotation(value) {
         if (this.nativeBody) {
-            this.nativeBody.setRotation(new Quaternion(value.x, value.y, value.z, value.w), true);
+            // see `position`'s setter above for why a kinematic-position-based body needs the "next
+            // kinematic" API instead of an immediate teleport.
+            if (this.nativeBody.bodyType() === RigidBodyType.KinematicPositionBased) {
+                this.nativeBody.setNextKinematicRotation(new Quaternion(value.x, value.y, value.z, value.w));
+            }
+            else {
+                this.nativeBody.setRotation(new Quaternion(value.x, value.y, value.z, value.w), true);
+            }
         }
         else {
             this._bodyDescr.setRotation(new Quaternion(value.x, value.y, value.z, value.w));
@@ -93,6 +111,10 @@ export class Rapier3dRigidBodyComponent {
         bd.mass = this._bodyDescr.mass;
         bd.setTranslation(this._bodyDescr.translation.x, this._bodyDescr.translation.y, this._bodyDescr.translation.z);
         bd.setRotation(Object.assign({}, this._bodyDescr.rotation));
+        // `ccdEnabled` is a plain field on `RigidBodyDesc` (not copied by the constructor above), not
+        // just a constructor-only `setCcdEnabled` call - carry it over explicitly so `clone()` doesn't
+        // silently drop CCD off the copy.
+        bd.setCcdEnabled(this._bodyDescr.ccdEnabled);
         // TODO more fields here?
         return [colliderDescr, this.shape, bd, this._colliderOptions];
     }
@@ -103,9 +125,11 @@ export class Rapier3dRigidBodyComponent {
         this._bodyDescr = _bodyDescr;
         this._colliderOptions = _colliderOptions;
         this.entity = null;
-        this.debugBodySettings = new DebugBody3DSettings(this._bodyDescr.mass > 0
-            ? { type: 'RIGID_DYNAMIC', sleeping: () => { var _a; return !!((_a = this._nativeBody) === null || _a === void 0 ? void 0 : _a.isSleeping()); } }
-            : { type: 'RIGID_STATIC' }, this.shape);
+        this.debugBodySettings = new DebugBody3DSettings(this._bodyDescr.status == RigidBodyType.Fixed
+            ? { type: 'RIGID_STATIC' }
+            : this._bodyDescr.status == RigidBodyType.Dynamic
+                ? { type: 'RIGID_DYNAMIC', sleeping: () => { var _a; return !!((_a = this._nativeBody) === null || _a === void 0 ? void 0 : _a.isSleeping()); } }
+                : { type: 'RIGID_KINEMATIC' }, this.shape);
         this._nativeBody = null;
         this._nativeBodyColliders = null;
         this.name = '';

package/dist/rapier-3d-factory.js

@@ -1,4 +1,4 @@
-import { Pnt3, Qtrn, } from '@gg-web-engine/core';
+import { getCylinderRadii, Pnt3, Qtrn, } from '@gg-web-engine/core';
 import { ActiveEvents, ColliderDesc, Quaternion, RigidBodyDesc } from '@dimforge/rapier3d-compat';
 import { Rapier3dRigidBodyComponent } from './components/rapier-3d-rigid-body.component';
 import { Rapier3dTriggerComponent } from './components/rapier-3d-trigger.component';
@@ -29,7 +29,7 @@ export class Rapier3dFactory {
         // ordinary rigid-body-vs-rigid-body contact needs it here too, since neither side had it before).
         const colliderDescr = this.createColliderDescr(descriptor.shape);
         colliderDescr.forEach(c => c.setActiveEvents(ActiveEvents.COLLISION_EVENTS));
-        return new Rapier3dRigidBodyComponent(this.world, colliderDescr, descriptor.shape, this.createRigidBodyDescr(descriptor.body, transform), Object.assign({ friction: 0.5, restitution: 0.1, ownCollisionGroups: [this.world.mainCollisionGroup], interactWithCollisionGroups: [this.world.mainCollisionGroup] }, descriptor.body));
+        return new Rapier3dRigidBodyComponent(this.world, colliderDescr, descriptor.shape, this.createRigidBodyDescr(descriptor.body, transform), Object.assign({ friction: 0.5, restitution: 0.1, ownCollisionGroups: [this.world.mainCollisionGroup], interactWithCollisionGroups: [this.world.mainCollisionGroup], ccd: false }, descriptor.body));
     }
     createTrigger(descriptor, transform) {
         const colliderDescr = this.createColliderDescr(descriptor);
@@ -37,7 +37,7 @@ export class Rapier3dFactory {
             c.isSensor = true;
             c.setActiveEvents(ActiveEvents.COLLISION_EVENTS);
         });
-        return new Rapier3dTriggerComponent(this.world, colliderDescr, descriptor, this.createRigidBodyDescr({ dynamic: false }, transform));
+        return new Rapier3dTriggerComponent(this.world, colliderDescr, descriptor, this.createRigidBodyDescr({ bodyType: 'static' }, transform));
     }
     createRaycastVehicle(chassis) {
         throw new Error('Raycast vehicle bindings for rapier3D are not implemented');
@@ -66,10 +66,27 @@ export class Rapier3dFactory {
                 const capsule = ColliderDesc.capsule(descriptor.centersDistance / 2, descriptor.radius);
                 capsule.setRotation(new Quaternion(yToZUp.x, yToZUp.y, yToZUp.z, yToZUp.w));
                 return [capsule];
-            case 'CYLINDER':
-                const cylinder = ColliderDesc.cylinder(descriptor.height / 2, descriptor.radius);
-                cylinder.setRotation(new Quaternion(yToZUp.x, yToZUp.y, yToZUp.z, yToZUp.w));
-                return [cylinder];
+            case 'CYLINDER': {
+                const { radiusX, radiusY } = getCylinderRadii(descriptor);
+                if (radiusX === radiusY) {
+                    const cylinder = ColliderDesc.cylinder(descriptor.height / 2, radiusX);
+                    cylinder.setRotation(new Quaternion(yToZUp.x, yToZUp.y, yToZUp.z, yToZUp.w));
+                    return [cylinder];
+                }
+                // Rapier/parry has no native elliptical-radius primitive (unlike Bullet's
+                // btCylinderShapeZ, which takes independent X/Y half-extents) - approximate with a
+                // convex hull over the two elliptical end-cap rings instead.
+                const ellipseSegments = 32;
+                const halfHeight = descriptor.height / 2;
+                const vertices = [];
+                for (let i = 0; i < ellipseSegments; i++) {
+                    const angle = (i / ellipseSegments) * Math.PI * 2;
+                    const x = radiusX * Math.cos(angle);
+                    const y = radiusY * Math.sin(angle);
+                    vertices.push(x, y, -halfHeight, x, y, halfHeight);
+                }
+                return [ColliderDesc.convexHull(new Float32Array(vertices))];
+            }
             case 'CONE':
                 const cone = ColliderDesc.cone(descriptor.height / 2, descriptor.radius);
                 cone.setRotation(new Quaternion(yToZUp.x, yToZUp.y, yToZUp.z, yToZUp.w));
@@ -113,14 +130,24 @@ export class Rapier3dFactory {
     createRigidBodyDescr(options, transform) {
         const pos = (transform === null || transform === void 0 ? void 0 : transform.position) || Pnt3.O;
         const rot = (transform === null || transform === void 0 ? void 0 : transform.rotation) || Qtrn.O;
-        const fixed = options.dynamic === false || !options.mass;
         let bodyDesc;
-        if (fixed) {
+        let bodyType = options.bodyType || (options.mass ? 'dynamic' : 'static');
+        if (bodyType === 'static') {
             bodyDesc = RigidBodyDesc.fixed();
         }
+        else if (bodyType === 'kinematic_pos') {
+            bodyDesc = RigidBodyDesc.kinematicPositionBased();
+        }
+        else if (bodyType === 'kinematic_vel') {
+            bodyDesc = RigidBodyDesc.kinematicVelocityBased();
+        }
         else {
             bodyDesc = RigidBodyDesc.dynamic();
             bodyDesc.mass = options.mass || 1;
+            // Only a dynamic body can tunnel through geometry it crosses within a single step - a fixed
+            // or kinematic body is never the one doing the moving-too-fast-to-detect part of that, so CCD
+            // is meaningless for either (see `BodyOptions.ccd`'s own doc).
+            bodyDesc.setCcdEnabled(!!options.ccd);
         }
         return bodyDesc.setTranslation(pos.x, pos.y, pos.z).setRotation(new Quaternion(rot.x, rot.y, rot.z, rot.w));
     }

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@gg-web-engine/rapier3d",
-  "version": "0.0.69",
+  "version": "0.0.71",
   "description": "An attempt to create open source game engine for browser",
   "main": "dist/index.js",
   "types": "dist/index.d.ts",
@@ -28,7 +28,7 @@
   "homepage": "https://github.com/AndyGura/gg-web-engine#readme",
   "devDependencies": {
     "@dimforge/rapier3d-compat": "0.20.0",
-    "@gg-web-engine/core": "0.0.69",
+    "@gg-web-engine/core": "0.0.71",
     "@types/jest": "^30.0.0",
     "@types/node": "^26.4.0",
     "jest": "^30.5.0",
@@ -40,7 +40,7 @@
   },
   "peerDependencies": {
     "@dimforge/rapier3d-compat": "0.20.0",
-    "@gg-web-engine/core": "0.0.69",
+    "@gg-web-engine/core": "0.0.71",
     "rxjs": "7.8.2"
   },
   "jest": {

package/test/components/rapier-3d-character-controller.component.spec.ts

@@ -29,7 +29,7 @@ describe('Rapier3dCharacterControllerComponent', () => {
     const floor = factory.createRigidBody(
       {
         shape: { shape: 'BOX', dimensions: { x: sizeX, y: 20, z: thickness } },
-        body: { dynamic: false, mass: 0 },
+        body: { bodyType: 'static', mass: 0 },
       },
       { position: { x: centerX, y: 0, z: topZ - thickness / 2 } },
     );
@@ -42,7 +42,7 @@ describe('Rapier3dCharacterControllerComponent', () => {
     const wall = factory.createRigidBody(
       {
         shape: { shape: 'BOX', dimensions: { x: thickness, y: 20, z: 5 } },
-        body: { dynamic: false, mass: 0 },
+        body: { bodyType: 'static', mass: 0 },
       },
       { position: { x: x + thickness / 2, y: 0, z: 2.5 } },
     );
@@ -98,7 +98,7 @@ describe('Rapier3dCharacterControllerComponent', () => {
     // continued contact with the steep surface.
     addFloor(0, 20, 0);
     const sphere = factory.createRigidBody(
-      { shape: { shape: 'SPHERE', radius: 1 }, body: { dynamic: false, mass: 0 } },
+      { shape: { shape: 'SPHERE', radius: 1 }, body: { bodyType: 'static', mass: 0 } },
       { position: { x: 0, y: 0, z: 1 } },
     );
     sphere.addToWorld({ physicsWorld: world } as any);

package/test/components/rapier-3d-object-grab-integration.spec.ts

@@ -36,13 +36,13 @@ import { Rapier3dWorldComponent } from '../../src';
 describe('ObjectGrabController + Rapier3dWorldComponent - end-to-end pick-up range', () => {
   const setupPedestalAndRadio = (world: Rapier3dWorldComponent, radioPosition: Point3) => {
     const pedestal = world.factory.createRigidBody(
-      { shape: { shape: 'CYLINDER', radius: 0.5, height: 0.9 }, body: { dynamic: false, mass: 0 } },
+      { shape: { shape: 'CYLINDER', radius: 0.5, height: 0.9 }, body: { bodyType: 'static', mass: 0 } },
       { position: { x: 0, y: 0, z: 0.45 } },
     );
     pedestal.addToWorld({ physicsWorld: world } as any);
 
     const propBody = world.factory.createRigidBody(
-      { shape: { shape: 'BOX', dimensions: { x: 0.41, y: 0.23, z: 0.49 } }, body: { dynamic: true, mass: 3 } },
+      { shape: { shape: 'BOX', dimensions: { x: 0.41, y: 0.23, z: 0.49 } }, body: { bodyType: 'dynamic', mass: 3 } },
       { position: radioPosition },
     );
     propBody.addToWorld({ physicsWorld: world } as any);

package/test/components/rapier-3d-player-character-controller-integration.spec.ts

@@ -21,7 +21,7 @@ const setup = async () => {
   await world.init();
   world.gravity = { x: 0, y: 0, z: 0 };
   const floor = world.factory.createRigidBody(
-    { shape: { shape: 'BOX', dimensions: { x: 100, y: 100, z: 1 } }, body: { dynamic: false, mass: 0 } },
+    { shape: { shape: 'BOX', dimensions: { x: 100, y: 100, z: 1 } }, body: { bodyType: 'static', mass: 0 } },
     { position: { x: 0, y: 0, z: -0.5 } },
   );
   floor.addToWorld({ physicsWorld: world } as any);
@@ -149,12 +149,12 @@ describe('CharacterController3dEntity + Rapier3dCharacterControllerComponent - s
     await world.init();
     world.gravity = { x: 0, y: 0, z: -9.82 };
     const floor = world.factory.createRigidBody(
-      { shape: { shape: 'BOX', dimensions: { x: 100, y: 100, z: 1 } }, body: { dynamic: false, mass: 0 } },
+      { shape: { shape: 'BOX', dimensions: { x: 100, y: 100, z: 1 } }, body: { bodyType: 'static', mass: 0 } },
       { position: { x: 0, y: 0, z: -0.5 } },
     );
     floor.addToWorld({ physicsWorld: world } as any);
     const sphere = world.factory.createRigidBody(
-      { shape: { shape: 'SPHERE', radius: 1 }, body: { dynamic: false, mass: 0 } },
+      { shape: { shape: 'SPHERE', radius: 1 }, body: { bodyType: 'static', mass: 0 } },
       { position: { x: 0, y: 0, z: 1 } },
     );
     sphere.addToWorld({ physicsWorld: world } as any);

package/test/components/rapier-3d-rigid-body-collision.spec.ts

@@ -32,7 +32,7 @@ describe('Rapier3dRigidBodyComponent collision events', () => {
 
   const createFloor = () => {
     const floor = factory.createRigidBody(
-      { shape: { shape: 'BOX', dimensions: { x: 20, y: 20, z: 1 } }, body: { dynamic: false } },
+      { shape: { shape: 'BOX', dimensions: { x: 20, y: 20, z: 1 } }, body: { bodyType: 'static' } },
       { position: { x: 0, y: 0, z: -0.5 } },
     );
     floor.addToWorld({ physicsWorld: world } as any);
@@ -43,7 +43,7 @@ describe('Rapier3dRigidBodyComponent collision events', () => {
     // restitution 0 so the ball settles without bouncing, keeping the "no further onCollisionStart
     // once resting" assertion below unambiguous.
     const ball = factory.createRigidBody(
-      { shape: { shape: 'SPHERE', radius: 1 }, body: { dynamic: true, mass: 1, restitution: 0 } },
+      { shape: { shape: 'SPHERE', radius: 1 }, body: { bodyType: 'dynamic', mass: 1, restitution: 0 } },
       { position: { x: 0, y: 0, z } },
     );
     ball.addToWorld({ physicsWorld: world } as any);

package/test/components/rapier-3d-trigger.component.spec.ts

@@ -41,7 +41,7 @@ describe(`Rapier3dTriggerComponent`, () => {
     const ball = factory.createRigidBody(
       {
         shape: { shape: 'SPHERE', radius: 1 },
-        body: { dynamic: true, mass: 1 },
+        body: { bodyType: 'dynamic', mass: 1 },
       },
       { position: { x: 0, y: 0, z: 12 } },
     );
@@ -70,7 +70,7 @@ describe(`Rapier3dTriggerComponent`, () => {
     const ball = factory.createRigidBody(
       {
         shape: { shape: 'SPHERE', radius: 1 },
-        body: { dynamic: true, mass: 1 },
+        body: { bodyType: 'dynamic', mass: 1 },
       },
       { position: { x: 0, y: 0, z: 12 } },
     );
@@ -92,7 +92,7 @@ describe(`Rapier3dTriggerComponent`, () => {
     const ball = factory.createRigidBody(
       {
         shape: { shape: 'SPHERE', radius: 1 },
-        body: { dynamic: true, mass: 1 },
+        body: { bodyType: 'dynamic', mass: 1 },
       },
       { position: { x: 0, y: 0, z: 0 } },
     );
@@ -112,7 +112,7 @@ describe(`Rapier3dTriggerComponent`, () => {
     const ball = factory.createRigidBody(
       {
         shape: { shape: 'SPHERE', radius: 1 },
-        body: { dynamic: true, mass: 1 },
+        body: { bodyType: 'dynamic', mass: 1 },
       },
       { position: { x: 0, y: 0, z: 0 } },
     );
@@ -133,7 +133,7 @@ describe(`Rapier3dTriggerComponent`, () => {
     const ball = factory.createRigidBody(
       {
         shape: { shape: 'SPHERE', radius: 1 },
-        body: { dynamic: true, mass: 1 },
+        body: { bodyType: 'dynamic', mass: 1 },
       },
       { position: { x: 0, y: 0, z: 0 } },
     );

package/test/components/rapier-3d-world.component.spec.ts

@@ -23,7 +23,7 @@ describe('Rapier3dWorldComponent', () => {
 
       const ball = world.factory.createRigidBody({
         shape: { shape: 'SPHERE', radius: 1 },
-        body: { dynamic: true, mass: 5 },
+        body: { bodyType: 'dynamic', mass: 5 },
       }, { position: { x: -5, y: 0, z: 0 } });
       ball.addToWorld({ physicsWorld: world } as any);
       ball.linearVelocity = { x: 1, y: 0, z: 0 };
@@ -39,14 +39,14 @@ describe('Rapier3dWorldComponent', () => {
 
       const ball0 = world.factory.createRigidBody({
         shape: { shape: 'SPHERE', radius: 1 },
-        body: { dynamic: true, mass: 5 },
+        body: { bodyType: 'dynamic', mass: 5 },
       }, { position: { x: -5, y: 0, z: 0 } });
       ball0.addToWorld({ physicsWorld: world } as any);
       ball0.linearVelocity = { x: 1, y: 0, z: 0 };
 
       const ball1 = world.factory.createRigidBody({
         shape: { shape: 'SPHERE', radius: 1 },
-        body: { dynamic: true, mass: 5 },
+        body: { bodyType: 'dynamic', mass: 5 },
       }, { position: { x: 5, y: 0, z: 0 } });
       ball1.addToWorld({ physicsWorld: world } as any);
       ball1.linearVelocity = { x: -1, y: 0, z: 0 };
@@ -63,7 +63,7 @@ describe('Rapier3dWorldComponent', () => {
       const cg0 = world.registerCollisionGroup();
       const ball0 = world.factory.createRigidBody({
         shape: { shape: 'SPHERE', radius: 1 },
-        body: { dynamic: true, mass: 5 },
+        body: { bodyType: 'dynamic', mass: 5 },
       }, { position: { x: -5, y: 0, z: 0 } });
       ball0.addToWorld({ physicsWorld: world } as any);
       ball0.linearVelocity = { x: 1, y: 0, z: 0 };
@@ -72,7 +72,7 @@ describe('Rapier3dWorldComponent', () => {
       const cg1 = world.registerCollisionGroup();
       const ball1 = world.factory.createRigidBody({
         shape: { shape: 'SPHERE', radius: 1 },
-        body: { dynamic: true, mass: 5 },
+        body: { bodyType: 'dynamic', mass: 5 },
       }, { position: { x: 5, y: 0, z: 0 } });
       ball1.addToWorld({ physicsWorld: world } as any);
       ball1.linearVelocity = { x: -1, y: 0, z: 0 };
@@ -94,7 +94,7 @@ describe('Rapier3dWorldComponent', () => {
         'transform/velocity write passing wakeUp=false was silently never simulated)',
       () => {
         const ball = world.factory.createRigidBody(
-          { shape: { shape: 'SPHERE', radius: 1 }, body: { dynamic: true, mass: 5 } },
+          { shape: { shape: 'SPHERE', radius: 1 }, body: { bodyType: 'dynamic', mass: 5 } },
           { position: { x: 0, y: 0, z: 0 } },
         );
         ball.addToWorld({ physicsWorld: world } as any);
@@ -121,7 +121,7 @@ describe('Rapier3dWorldComponent', () => {
       // Create a box far away from the ray
       const box = world.factory.createRigidBody({
         shape: { shape: 'BOX', dimensions: { x: 1, y: 1, z: 1 } },
-        body: { dynamic: false, mass: 0 },
+        body: { bodyType: 'static', mass: 0 },
       }, { position: { x: 10, y: 10, z: 10 } });
       box.addToWorld({ physicsWorld: world } as any);
 
@@ -144,7 +144,7 @@ describe('Rapier3dWorldComponent', () => {
       // Create a box in the path of the ray
       const box = world.factory.createRigidBody({
         shape: { shape: 'BOX', dimensions: { x: 2, y: 2, z: 2 } },
-        body: { dynamic: false, mass: 0 },
+        body: { bodyType: 'static', mass: 0 },
       }, { position: { x: 0, y: 0, z: -5 } });
       box.addToWorld({ physicsWorld: world } as any);
 
@@ -179,7 +179,7 @@ describe('Rapier3dWorldComponent', () => {
       const box1 = world.factory.createRigidBody({
         shape: { shape: 'BOX', dimensions: { x: 2, y: 2, z: 2 } },
         body: {
-          dynamic: false,
+          bodyType: 'static',
           mass: 0,
           ownCollisionGroups: [group1],
           interactWithCollisionGroups: [group1, group2],
@@ -217,7 +217,7 @@ describe('Rapier3dWorldComponent', () => {
       // Create a box at a known distance
       const box = world.factory.createRigidBody({
         shape: { shape: 'BOX', dimensions: { x: 2, y: 2, z: 2 } },
-        body: { dynamic: false, mass: 0 },
+        body: { bodyType: 'static', mass: 0 },
       }, { position: { x: 0, y: 0, z: -5 } });
       box.addToWorld({ physicsWorld: world } as any);
 
@@ -246,7 +246,7 @@ describe('Rapier3dWorldComponent', () => {
       const box = world.factory.createRigidBody({
         shape: { shape: 'BOX', dimensions: { x: 2, y: 2, z: 2 } },
         body: {
-          dynamic: false,
+          bodyType: 'static',
           mass: 0,
           ownCollisionGroups: [group1],
           interactWithCollisionGroups: [group1, group2],
@@ -272,13 +272,13 @@ describe('Rapier3dWorldComponent', () => {
       // Create two boxes at different positions
       const box1 = world.factory.createRigidBody({
         shape: { shape: 'BOX', dimensions: { x: 1, y: 1, z: 1 } },
-        body: { dynamic: false, mass: 0 },
+        body: { bodyType: 'static', mass: 0 },
       }, { position: { x: 0, y: 0, z: -3 } });
       box1.addToWorld({ physicsWorld: world } as any);
 
       const box2 = world.factory.createRigidBody({
         shape: { shape: 'BOX', dimensions: { x: 1, y: 1, z: 1 } },
-        body: { dynamic: false, mass: 0 },
+        body: { bodyType: 'static', mass: 0 },
       }, { position: { x: 0, y: 0, z: -7 } });
       box2.addToWorld({ physicsWorld: world } as any);
 
@@ -300,7 +300,7 @@ describe('Rapier3dWorldComponent', () => {
       // Create a box
       const box = world.factory.createRigidBody({
         shape: { shape: 'BOX', dimensions: { x: 4, y: 4, z: 4 } },
-        body: { dynamic: false, mass: 0 },
+        body: { bodyType: 'static', mass: 0 },
       }, { position: { x: 0, y: 0, z: 0 } });
       box.addToWorld({ physicsWorld: world } as any);
 

package/test/rapier-3d-factory.spec.ts

@@ -19,6 +19,26 @@ describe('Rapier3dFactory', () => {
     world.dispose();
   });
 
+  describe('createColliderDescr', () => {
+    it('creates a circular cylinder collider that can be added to the world', () => {
+      const body = factory.createRigidBody(
+        { shape: { shape: 'CYLINDER', radius: 0.5, height: 1 }, body: { bodyType: 'static', mass: 0 } },
+        { position: { x: 0, y: 0, z: 0 } },
+      );
+      body.addToWorld({ physicsWorld: world } as any);
+      world.simulate(16);
+    });
+
+    it('falls back to a convex-hull approximation for an elliptical cylinder', () => {
+      const body = factory.createRigidBody(
+        { shape: { shape: 'CYLINDER', radiusX: 0.5, radiusY: 1, height: 1 }, body: { bodyType: 'static', mass: 0 } },
+        { position: { x: 0, y: 0, z: 0 } },
+      );
+      body.addToWorld({ physicsWorld: world } as any);
+      world.simulate(16);
+    });
+  });
+
   describe('createCharacterController', () => {
     it('should produce a component usable without any extra setup', () => {
       const character = factory.createCharacterController(
@@ -38,7 +58,7 @@ describe('Rapier3dFactory', () => {
 
       // works: a downward move against a floor grounds it, fully synchronously
       const floor = factory.createRigidBody(
-        { shape: { shape: 'BOX', dimensions: { x: 20, y: 20, z: 1 } }, body: { dynamic: false, mass: 0 } },
+        { shape: { shape: 'BOX', dimensions: { x: 20, y: 20, z: 1 } }, body: { bodyType: 'static', mass: 0 } },
         { position: { x: 0, y: 0, z: -0.5 } },
       );
       floor.addToWorld({ physicsWorld: world } as any);