@opsydyn/effect-three-rapier 0.0.0-stage → 0.1.0

package/CHANGELOG.md

@@ -0,0 +1,14 @@
+# Changelog
+
+## 0.1.0 (2026-10-18)
+
+### Features
+
+- **effect-three:** a rigid body per instance ([cc39435](https://github.com/opsydyn/fold-kit-experiments/commit/cc39435b878c781c7bf35e00e4b50ddc6d92b035))
+- **effect-three:** after R5 — WebGPU, render kits, glide, physics groups, XR spaces ([e5bde71](https://github.com/opsydyn/fold-kit-experiments/commit/e5bde71212353879d74aa32567c3eb9cbbeb38ac))
+- **effect-three:** bodies on groups and loaded models ([b06179c](https://github.com/opsydyn/fold-kit-experiments/commit/b06179c4baa878fb65dc2f15a43a3e275b7bf682))
+- **effect-three:** close the parity gaps and prepare the packages for npm ([994fe5d](https://github.com/opsydyn/fold-kit-experiments/commit/994fe5dd640583c787746a95e8465d8f051d78df))
+- **effect-three:** colliders of a body's own, motors, contact forces and debug lines ([2a16c9e](https://github.com/opsydyn/fold-kit-experiments/commit/2a16c9e0f8432872e008bbd747eede1472c6ba44))
+- **effect-three:** collision groups and colliders named in collisions ([9531a01](https://github.com/opsydyn/fold-kit-experiments/commit/9531a01f54e9e19b8ccc301152167d0ac52c3229))
+- **effect-three:** joints, and bodies no longer remade by rounding ([66ebf4d](https://github.com/opsydyn/fold-kit-experiments/commit/66ebf4d0a4bcd580699e9a7f371919397e95585c))
+- **effect-three:** physics as data, simulated by Rapier ([dd99e1c](https://github.com/opsydyn/fold-kit-experiments/commit/dd99e1cbde789e5b578ec6b28278893e5725b326))

package/LICENSE

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+MIT License
+
+Copyright (c) 2026 Alan P Currie
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

package/README.md

@@ -1,3 +1,43 @@
-# Temporary Holding Version
+# @opsydyn/effect-three-rapier
 
-This version is a temporary placeholder for this package. An operational version to replace this has been submitted for review and is awaiting a staged release.
+Rapier physics for `@opsydyn/effect-three`. Bodies are described on meshes, groups, loaded
+models and instances (with colliders from their geometry or their own), and joints (with
+motors) in `physics({ joints })`; this package is the engine that simulates them, reports
+collisions and contact forces, and draws its debug lines ([ADR-007](../../docs/effect-three/adr/007-physics-as-a-pose-source.md)).
+
+```sh
+npm install @opsydyn/effect-three-rapier @opsydyn/effect-three three
+```
+
+Released with the core at one version: see its [Stability](../effect-three/README.md#stability)
+and [Limits](../effect-three/README.md#limits).
+
+```ts
+import { body, box, mesh, physics, scene, standard } from '@opsydyn/effect-three';
+import * as EffectThreeFoldkit from '@opsydyn/effect-three-foldkit';
+import { loadRapier } from '@opsydyn/effect-three-rapier';
+
+const environment = EffectThreeFoldkit.makeEnvironment(window, { physics: loadRapier() });
+
+scene({
+  physics: physics(),
+  children: [
+    mesh({
+      key: 'floor',
+      geometry: box({ width: 10, height: 1, depth: 10 }),
+      material: standard(),
+      body: body({ type: 'fixed' }),
+    }),
+    mesh({
+      key: 'crate',
+      position: [0, 4, 0],
+      geometry: box(),
+      material: standard(),
+      body: body(),
+    }),
+  ],
+});
+```
+
+Rapier (`@dimforge/rapier3d-compat`, Apache-2.0) embeds its WebAssembly, so nothing else is
+fetched; load it only on pages that need physics.

package/dist/index.d.ts

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+import type { PhysicsEngine } from '@opsydyn/effect-three';
+/**
+ * Loads Rapier's WebAssembly and returns the engine. Call once per page; the engine makes
+ * a world for each scene with physics.
+ */
+export declare const loadRapier: () => Promise<PhysicsEngine>;
+//# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAqBA,OAAO,KAAK,EAUV,aAAa,EAId,MAAM,uBAAuB,CAAC;AA0T/B;;;GAGG;AACH,eAAO,MAAM,UAAU,QAAa,OAAO,CAAC,aAAa,CAGxD,CAAC"}

package/dist/index.js

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+// src/index.ts
+import RAPIER from "@dimforge/rapier3d-compat";
+import { interactionBits } from "@opsydyn/effect-three";
+var vector = ([x, y, z]) => ({ x, y, z });
+var rotation = ([x, y, z, w]) => ({ x, y, z, w });
+var bodyTypes = {
+  dynamic: RAPIER.RigidBodyType.Dynamic,
+  fixed: RAPIER.RigidBodyType.Fixed,
+  kinematic: RAPIER.RigidBodyType.KinematicPositionBased
+};
+var shapeDesc = (rapier, shape) => {
+  switch (shape._tag) {
+    case "Cuboid":
+      return rapier.ColliderDesc.cuboid(...shape.halfExtents);
+    case "Ball":
+      return rapier.ColliderDesc.ball(shape.radius);
+    case "Hull":
+      return rapier.ColliderDesc.convexHull(shape.points) ?? rapier.ColliderDesc.ball(0.001);
+    case "Capsule":
+      return rapier.ColliderDesc.capsule(shape.halfHeight, shape.radius);
+    case "Cylinder":
+      return rapier.ColliderDesc.cylinder(shape.halfHeight, shape.radius);
+    case "Cone":
+      return rapier.ColliderDesc.cone(shape.halfHeight, shape.radius);
+    case "Trimesh":
+      return rapier.ColliderDesc.trimesh(shape.vertices, shape.indices);
+  }
+};
+var colliderDesc = (rapier, collider) => shapeDesc(rapier, collider.shape).setTranslation(...collider.translation).setRotation(rotation(collider.rotation));
+var reporting = (colliders, body) => {
+  for (const collider of colliders) {
+    if (body.contactForces === null) {
+      collider.setActiveEvents(RAPIER.ActiveEvents.COLLISION_EVENTS);
+      continue;
+    }
+    collider.setActiveEvents(RAPIER.ActiveEvents.COLLISION_EVENTS | RAPIER.ActiveEvents.CONTACT_FORCE_EVENTS);
+    collider.setContactForceEventThreshold(body.contactForces);
+  }
+};
+var surface = (colliders, body) => {
+  for (const collider of colliders) {
+    collider.setFriction(body.friction);
+    collider.setRestitution(body.restitution);
+    collider.setSensor(body.sensor);
+    if (body.mass === null)
+      collider.setDensity(1);
+    else
+      collider.setMass(body.mass / colliders.length);
+    collider.setCollisionGroups(interactionBits(body.collisionGroups));
+    collider.setSolverGroups(interactionBits(body.solverGroups));
+  }
+};
+var motion = (rigidBody, body) => {
+  rigidBody.setBodyType(bodyTypes[body.type], true);
+  rigidBody.setLinearDamping(body.linearDamping);
+  rigidBody.setAngularDamping(body.angularDamping);
+  rigidBody.setGravityScale(body.gravityScale, true);
+  rigidBody.enableCcd(body.ccd);
+};
+var limitsOf = (joint) => joint.kind._tag === "Revolute" || joint.kind._tag === "Prismatic" ? joint.kind.limits : null;
+var motorOf = (joint) => joint.kind._tag === "Revolute" || joint.kind._tag === "Prismatic" ? joint.kind.motor : null;
+var drive = (made, motor) => {
+  if (motor !== null && made instanceof RAPIER.UnitImpulseJoint) {
+    made.configureMotor(motor.position, motor.velocity, motor.stiffness, motor.damping);
+  }
+};
+var limit = (made, limits) => {
+  if (limits !== null && made instanceof RAPIER.UnitImpulseJoint)
+    made.setLimits(...limits);
+};
+var jointData = (rapier, joint) => {
+  const a = vector(joint.anchorA);
+  const b = vector(joint.anchorB);
+  const { kind } = joint;
+  switch (kind._tag) {
+    case "Fixed":
+      return rapier.JointData.fixed(a, rotation(kind.frameA), b, rotation(kind.frameB));
+    case "Spherical":
+      return rapier.JointData.spherical(a, b);
+    case "Revolute":
+      return rapier.JointData.revolute(a, b, vector(kind.axis));
+    case "Prismatic":
+      return rapier.JointData.prismatic(a, b, vector(kind.axis));
+    case "Rope":
+      return rapier.JointData.rope(kind.length, a, b);
+    case "Spring":
+      return rapier.JointData.spring(kind.restLength, kind.stiffness, kind.damping, a, b);
+  }
+};
+var pair = (a, b) => ({
+  a: a.key,
+  b: b.key,
+  ...a.part === undefined ? {} : { aPart: a.part },
+  ...b.part === undefined ? {} : { bPart: b.part }
+});
+var createWorld = (rapier) => (initial) => {
+  const world = new rapier.World(vector(initial.gravity));
+  const events = new rapier.EventQueue(true);
+  const bodies = new Map;
+  const keysByCollider = new Map;
+  const joints = new Map;
+  const add = (key, body, colliders, pose) => {
+    const desc = new rapier.RigidBodyDesc(bodyTypes[body.type]).setTranslation(...pose.position).setRotation(rotation(pose.quaternion)).setLinvel(...body.linearVelocity).setAngvel(vector(body.angularVelocity)).setLinearDamping(body.linearDamping).setAngularDamping(body.angularDamping).setGravityScale(body.gravityScale).setCcdEnabled(body.ccd);
+    const rigidBody = world.createRigidBody(desc);
+    const made = colliders.map((collider) => world.createCollider(colliderDesc(rapier, collider), rigidBody));
+    surface(made, body);
+    reporting(made, body);
+    bodies.set(key, { rigidBody, colliders: made });
+    made.forEach((collider, i) => {
+      const part = colliders[i]?.part;
+      keysByCollider.set(collider.handle, { key, ...part === undefined ? {} : { part } });
+    });
+  };
+  const remove = (key) => {
+    const held = bodies.get(key);
+    if (held === undefined)
+      return;
+    for (const collider of held.colliders)
+      keysByCollider.delete(collider.handle);
+    for (const [id, joined] of joints)
+      if (joined.a === key || joined.b === key)
+        joints.delete(id);
+    world.removeRigidBody(held.rigidBody);
+    bodies.delete(key);
+  };
+  const addJoint = (id, joint, a, b) => {
+    const first = bodies.get(a);
+    const second = bodies.get(b);
+    if (first === undefined || second === undefined)
+      return;
+    const made = world.createImpulseJoint(jointData(rapier, joint), first.rigidBody, second.rigidBody, true);
+    limit(made, limitsOf(joint));
+    drive(made, motorOf(joint));
+    made.setContactsEnabled(joint.contacts);
+    joints.set(id, { joint: made, a, b });
+  };
+  const removeJoint = (id) => {
+    const joined = joints.get(id);
+    if (joined === undefined)
+      return;
+    world.removeImpulseJoint(joined.joint, true);
+    joints.delete(id);
+  };
+  const collisionsOf = () => {
+    const collisions = [];
+    events.drainCollisionEvents((first, second, started) => {
+      const a = keysByCollider.get(first);
+      const b = keysByCollider.get(second);
+      if (a !== undefined && b !== undefined)
+        collisions.push({ ...pair(a, b), started });
+    });
+    return collisions;
+  };
+  let forces = [];
+  function recordForce(event) {
+    const a = keysByCollider.get(event.collider1());
+    const b = keysByCollider.get(event.collider2());
+    if (a === undefined || b === undefined)
+      return;
+    const total = event.totalForce();
+    const direction = event.maxForceDirection();
+    forces.push({
+      ...pair(a, b),
+      totalForce: [total.x, total.y, total.z],
+      totalForceMagnitude: event.totalForceMagnitude(),
+      maxForceDirection: [direction.x, direction.y, direction.z],
+      maxForceMagnitude: event.maxForceMagnitude()
+    });
+  }
+  const drainForces = () => events.drainContactForceEvents(recordForce);
+  return {
+    configure: (physics) => {
+      world.gravity = vector(physics.gravity);
+    },
+    add,
+    update: (key, body) => {
+      const held = bodies.get(key);
+      if (held === undefined)
+        return;
+      motion(held.rigidBody, body);
+      surface(held.colliders, body);
+      reporting(held.colliders, body);
+    },
+    teleport: (key, pose) => {
+      const held = bodies.get(key);
+      if (held === undefined)
+        return;
+      held.rigidBody.setTranslation(vector(pose.position), true);
+      held.rigidBody.setRotation(rotation(pose.quaternion), true);
+      held.rigidBody.setLinvel({ x: 0, y: 0, z: 0 }, true);
+      held.rigidBody.setAngvel({ x: 0, y: 0, z: 0 }, true);
+    },
+    moveKinematic: (key, pose) => {
+      const held = bodies.get(key);
+      if (held === undefined)
+        return;
+      held.rigidBody.setNextKinematicTranslation(vector(pose.position));
+      held.rigidBody.setNextKinematicRotation(rotation(pose.quaternion));
+    },
+    applyImpulse: (key, impulse) => {
+      bodies.get(key)?.rigidBody.applyImpulse(vector(impulse), true);
+    },
+    remove,
+    addJoint,
+    removeJoint,
+    step: (seconds) => {
+      world.timestep = seconds;
+      world.step(events);
+      drainForces();
+      return collisionsOf();
+    },
+    contactForces: () => {
+      const drained = forces;
+      forces = [];
+      return drained;
+    },
+    debugLines: () => {
+      const { vertices, colors } = world.debugRender();
+      return { vertices, colors };
+    },
+    pose: (key) => {
+      const held = bodies.get(key);
+      if (held === undefined)
+        return;
+      const { x, y, z } = held.rigidBody.translation();
+      const turn = held.rigidBody.rotation();
+      return { position: [x, y, z], quaternion: [turn.x, turn.y, turn.z, turn.w] };
+    },
+    awake: () => {
+      for (const { rigidBody } of bodies.values()) {
+        if (rigidBody.isDynamic() && !rigidBody.isSleeping())
+          return true;
+      }
+      return false;
+    },
+    dispose: () => {
+      bodies.clear();
+      keysByCollider.clear();
+      joints.clear();
+      events.free();
+      world.free();
+    }
+  };
+};
+var loadRapier = async () => {
+  await RAPIER.init();
+  return { createWorld: createWorld(RAPIER) };
+};
+export {
+  loadRapier
+};
+
+//# debugId=1F8003691871788E64756E2164756E21
+//# sourceMappingURL=index.js.map

package/dist/index.js.map

@@ -0,0 +1,10 @@
+{
+  "version": 3,
+  "sources": ["../src/index.ts"],
+  "sourcesContent": [
+    "/**\n * Rapier physics for `@opsydyn/effect-three`: a `PhysicsEngine` that the scene graph\n * steps. Load it once, before making the environment, and pass it on:\n *\n * ```ts\n * const physics = await loadRapier();\n * const environment = EffectThreeFoldkit.makeEnvironment(window, { physics });\n * ```\n *\n * Bodies are described on meshes (`body()`) under a scene's `physics()`; this package\n * only turns those descriptions into Rapier bodies and colliders, as react-three-rapier's\n * `RigidBody` does (`ae5c3fe`, `src/utils/utils-rigidbody.ts` and `utils-collider.ts`),\n * and joints into impulse joints, as its joint hooks do (`src/hooks/joints.ts`).\n *\n * Rapier (`@dimforge/rapier3d-compat`) is Apache-2.0; its WebAssembly is embedded, so\n * nothing extra is fetched.\n *\n * @module\n */\nimport RAPIER from '@dimforge/rapier3d-compat';\nimport { interactionBits } from '@opsydyn/effect-three';\nimport type {\n  Body,\n  BodyPose,\n  Collider,\n  ColliderShape,\n  Collision,\n  Physics,\n  ContactForce,\n  JointLimits,\n  JointMotor,\n  PhysicsEngine,\n  PhysicsJoint,\n  PhysicsWorld,\n  Vec3,\n} from '@opsydyn/effect-three';\n\ntype Rapier = typeof RAPIER;\n\nconst vector = ([x, y, z]: Vec3) => ({ x, y, z });\n\nconst rotation = ([x, y, z, w]: BodyPose['quaternion']) => ({ x, y, z, w });\n\n/** Body types by our names. Kinematic bodies are position based, as react-three-rapier's default. */\nconst bodyTypes = {\n  dynamic: RAPIER.RigidBodyType.Dynamic,\n  fixed: RAPIER.RigidBodyType.Fixed,\n  kinematic: RAPIER.RigidBodyType.KinematicPositionBased,\n} satisfies Record<Body['type'], RAPIER.RigidBodyType>;\n\n/** The collider description for a shape; a hull Rapier cannot build becomes a small ball. */\nconst shapeDesc = (rapier: Rapier, shape: ColliderShape): RAPIER.ColliderDesc => {\n  switch (shape._tag) {\n    case 'Cuboid':\n      return rapier.ColliderDesc.cuboid(...shape.halfExtents);\n    case 'Ball':\n      return rapier.ColliderDesc.ball(shape.radius);\n    case 'Hull':\n      return rapier.ColliderDesc.convexHull(shape.points) ?? rapier.ColliderDesc.ball(1e-3);\n    case 'Capsule':\n      return rapier.ColliderDesc.capsule(shape.halfHeight, shape.radius);\n    case 'Cylinder':\n      return rapier.ColliderDesc.cylinder(shape.halfHeight, shape.radius);\n    case 'Cone':\n      return rapier.ColliderDesc.cone(shape.halfHeight, shape.radius);\n    case 'Trimesh':\n      return rapier.ColliderDesc.trimesh(shape.vertices, shape.indices);\n  }\n};\n\n/** A collider placed in its body. */\nconst colliderDesc = (rapier: Rapier, collider: Collider): RAPIER.ColliderDesc =>\n  shapeDesc(rapier, collider.shape)\n    .setTranslation(...collider.translation)\n    .setRotation(rotation(collider.rotation));\n\n/**\n * The events a body's colliders report: collisions always, contact forces over its\n * threshold when it has one (react-three-rapier's `onContactForce` turns on\n * `CONTACT_FORCE_EVENTS`).\n */\nconst reporting = (colliders: ReadonlyArray<RAPIER.Collider>, body: Body): void => {\n  for (const collider of colliders) {\n    if (body.contactForces === null) {\n      collider.setActiveEvents(RAPIER.ActiveEvents.COLLISION_EVENTS);\n      continue;\n    }\n    collider.setActiveEvents(\n      RAPIER.ActiveEvents.COLLISION_EVENTS | RAPIER.ActiveEvents.CONTACT_FORCE_EVENTS,\n    );\n    collider.setContactForceEventThreshold(body.contactForces);\n  }\n};\n\n/**\n * Applies a body's surface and mass settings to its colliders. A given mass is shared\n * among them; otherwise each has density 1.\n */\nconst surface = (colliders: ReadonlyArray<RAPIER.Collider>, body: Body): void => {\n  for (const collider of colliders) {\n    collider.setFriction(body.friction);\n    collider.setRestitution(body.restitution);\n    collider.setSensor(body.sensor);\n    if (body.mass === null) collider.setDensity(1);\n    else collider.setMass(body.mass / colliders.length);\n    collider.setCollisionGroups(interactionBits(body.collisionGroups));\n    collider.setSolverGroups(interactionBits(body.solverGroups));\n  }\n};\n\n/** Applies a body's motion settings. */\nconst motion = (rigidBody: RAPIER.RigidBody, body: Body): void => {\n  rigidBody.setBodyType(bodyTypes[body.type], true);\n  rigidBody.setLinearDamping(body.linearDamping);\n  rigidBody.setAngularDamping(body.angularDamping);\n  rigidBody.setGravityScale(body.gravityScale, true);\n  rigidBody.enableCcd(body.ccd);\n};\n\n/** The limits a joint has, if it is a hinge or slider with limits. */\nconst limitsOf = (joint: PhysicsJoint): JointLimits | null =>\n  joint.kind._tag === 'Revolute' || joint.kind._tag === 'Prismatic' ? joint.kind.limits : null;\n\n/** The motor a joint has, if it is a hinge or slider with one. */\nconst motorOf = (joint: PhysicsJoint): JointMotor | null =>\n  joint.kind._tag === 'Revolute' || joint.kind._tag === 'Prismatic' ? joint.kind.motor : null;\n\n/** Drives a hinge or slider once made: Rapier's `configureMotor`, set on the joint. */\nconst drive = (made: RAPIER.ImpulseJoint, motor: JointMotor | null): void => {\n  if (motor !== null && made instanceof RAPIER.UnitImpulseJoint) {\n    made.configureMotor(motor.position, motor.velocity, motor.stiffness, motor.damping);\n  }\n};\n\n/**\n * Limits a hinge or slider once made. React-three-rapier sets them on the joint data, but\n * Rapier's `JointData.intoRaw` (0.21) passes them on for prismatic joints only, so a\n * hinge's would be lost: they are set on the joint instead.\n */\nconst limit = (made: RAPIER.ImpulseJoint, limits: JointLimits | null): void => {\n  if (limits !== null && made instanceof RAPIER.UnitImpulseJoint) made.setLimits(...limits);\n};\n\n/** Rapier's joint data for a joint, anchors in each body's space. */\nconst jointData = (rapier: Rapier, joint: PhysicsJoint): RAPIER.JointData => {\n  const a = vector(joint.anchorA);\n  const b = vector(joint.anchorB);\n  const { kind } = joint;\n  switch (kind._tag) {\n    case 'Fixed':\n      return rapier.JointData.fixed(a, rotation(kind.frameA), b, rotation(kind.frameB));\n    case 'Spherical':\n      return rapier.JointData.spherical(a, b);\n    case 'Revolute':\n      return rapier.JointData.revolute(a, b, vector(kind.axis));\n    case 'Prismatic':\n      return rapier.JointData.prismatic(a, b, vector(kind.axis));\n    case 'Rope':\n      return rapier.JointData.rope(kind.length, a, b);\n    case 'Spring':\n      return rapier.JointData.spring(kind.restLength, kind.stiffness, kind.damping, a, b);\n  }\n};\n\n/** Which body a collider belongs to, and which part of it, by name. */\ntype Owner = { readonly key: string; readonly part?: string };\n\n/** Two colliders' owners as an event's `a` and `b`, with their parts. */\nconst pair = (a: Owner, b: Owner) => ({\n  a: a.key,\n  b: b.key,\n  ...(a.part === undefined ? {} : { aPart: a.part }),\n  ...(b.part === undefined ? {} : { bPart: b.part }),\n});\n\ntype Held = {\n  readonly rigidBody: RAPIER.RigidBody;\n  readonly colliders: ReadonlyArray<RAPIER.Collider>;\n};\n\nconst createWorld =\n  (rapier: Rapier) =>\n  (initial: Physics): PhysicsWorld => {\n    const world = new rapier.World(vector(initial.gravity));\n    const events = new rapier.EventQueue(true);\n    const bodies = new Map<string, Held>();\n    /** Each collider's body, and the part of it the collider is (when named). */\n    const keysByCollider = new Map<number, Owner>();\n    const joints = new Map<\n      string,\n      { readonly joint: RAPIER.ImpulseJoint; readonly a: string; readonly b: string }\n    >();\n\n    const add: PhysicsWorld['add'] = (key, body, colliders, pose) => {\n      const desc = new rapier.RigidBodyDesc(bodyTypes[body.type])\n        .setTranslation(...pose.position)\n        .setRotation(rotation(pose.quaternion))\n        .setLinvel(...body.linearVelocity)\n        .setAngvel(vector(body.angularVelocity))\n        .setLinearDamping(body.linearDamping)\n        .setAngularDamping(body.angularDamping)\n        .setGravityScale(body.gravityScale)\n        .setCcdEnabled(body.ccd);\n      const rigidBody = world.createRigidBody(desc);\n      const made = colliders.map((collider) =>\n        world.createCollider(colliderDesc(rapier, collider), rigidBody),\n      );\n      surface(made, body);\n      reporting(made, body);\n      bodies.set(key, { rigidBody, colliders: made });\n      made.forEach((collider, i) => {\n        const part = colliders[i]?.part;\n        keysByCollider.set(collider.handle, { key, ...(part === undefined ? {} : { part }) });\n      });\n    };\n\n    const remove: PhysicsWorld['remove'] = (key) => {\n      const held = bodies.get(key);\n      if (held === undefined) return;\n      for (const collider of held.colliders) keysByCollider.delete(collider.handle);\n      // Rapier removes the body's joints with it; forget them, as their handles are reused.\n      for (const [id, joined] of joints)\n        if (joined.a === key || joined.b === key) joints.delete(id);\n      world.removeRigidBody(held.rigidBody);\n      bodies.delete(key);\n    };\n\n    const addJoint: PhysicsWorld['addJoint'] = (id, joint, a, b) => {\n      const first = bodies.get(a);\n      const second = bodies.get(b);\n      if (first === undefined || second === undefined) return;\n      const made = world.createImpulseJoint(\n        jointData(rapier, joint),\n        first.rigidBody,\n        second.rigidBody,\n        true,\n      );\n      limit(made, limitsOf(joint));\n      drive(made, motorOf(joint));\n      made.setContactsEnabled(joint.contacts);\n      joints.set(id, { joint: made, a, b });\n    };\n\n    const removeJoint: PhysicsWorld['removeJoint'] = (id) => {\n      const joined = joints.get(id);\n      if (joined === undefined) return;\n      world.removeImpulseJoint(joined.joint, true);\n      joints.delete(id);\n    };\n\n    const collisionsOf = (): ReadonlyArray<Collision> => {\n      const collisions: Array<Collision> = [];\n      events.drainCollisionEvents((first, second, started) => {\n        const a = keysByCollider.get(first);\n        const b = keysByCollider.get(second);\n        if (a !== undefined && b !== undefined) collisions.push({ ...pair(a, b), started });\n      });\n      return collisions;\n    };\n\n    /** Contact force events since the last call, kept across steps until asked for. */\n    let forces: Array<ContactForce> = [];\n    function recordForce(event: RAPIER.TempContactForceEvent): void {\n      const a = keysByCollider.get(event.collider1());\n      const b = keysByCollider.get(event.collider2());\n      if (a === undefined || b === undefined) return;\n      const total = event.totalForce();\n      const direction = event.maxForceDirection();\n      forces.push({\n        ...pair(a, b),\n        totalForce: [total.x, total.y, total.z],\n        totalForceMagnitude: event.totalForceMagnitude(),\n        maxForceDirection: [direction.x, direction.y, direction.z],\n        maxForceMagnitude: event.maxForceMagnitude(),\n      });\n    }\n    const drainForces = (): void => events.drainContactForceEvents(recordForce);\n\n    return {\n      configure: (physics) => {\n        world.gravity = vector(physics.gravity);\n      },\n      add,\n      update: (key, body) => {\n        const held = bodies.get(key);\n        if (held === undefined) return;\n        motion(held.rigidBody, body);\n        surface(held.colliders, body);\n        reporting(held.colliders, body);\n      },\n      teleport: (key, pose) => {\n        const held = bodies.get(key);\n        if (held === undefined) return;\n        held.rigidBody.setTranslation(vector(pose.position), true);\n        held.rigidBody.setRotation(rotation(pose.quaternion), true);\n        held.rigidBody.setLinvel({ x: 0, y: 0, z: 0 }, true);\n        held.rigidBody.setAngvel({ x: 0, y: 0, z: 0 }, true);\n      },\n      moveKinematic: (key, pose) => {\n        const held = bodies.get(key);\n        if (held === undefined) return;\n        held.rigidBody.setNextKinematicTranslation(vector(pose.position));\n        held.rigidBody.setNextKinematicRotation(rotation(pose.quaternion));\n      },\n      applyImpulse: (key, impulse) => {\n        bodies.get(key)?.rigidBody.applyImpulse(vector(impulse), true);\n      },\n      remove,\n      addJoint,\n      removeJoint,\n      step: (seconds) => {\n        world.timestep = seconds;\n        world.step(events);\n        drainForces();\n        return collisionsOf();\n      },\n      contactForces: () => {\n        const drained = forces;\n        forces = [];\n        return drained;\n      },\n      // react-three-rapier's Debug: Rapier's own line rendering of colliders and joints.\n      debugLines: () => {\n        const { vertices, colors } = world.debugRender();\n        return { vertices, colors };\n      },\n      pose: (key) => {\n        const held = bodies.get(key);\n        if (held === undefined) return undefined;\n        const { x, y, z } = held.rigidBody.translation();\n        const turn = held.rigidBody.rotation();\n        return { position: [x, y, z], quaternion: [turn.x, turn.y, turn.z, turn.w] };\n      },\n      awake: () => {\n        for (const { rigidBody } of bodies.values()) {\n          if (rigidBody.isDynamic() && !rigidBody.isSleeping()) return true;\n        }\n        return false;\n      },\n      dispose: () => {\n        bodies.clear();\n        keysByCollider.clear();\n        joints.clear();\n        events.free();\n        world.free();\n      },\n    };\n  };\n\n/**\n * Loads Rapier's WebAssembly and returns the engine. Call once per page; the engine makes\n * a world for each scene with physics.\n */\nexport const loadRapier = async (): Promise<PhysicsEngine> => {\n  await RAPIER.init();\n  return { createWorld: createWorld(RAPIER) };\n};\n"
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+  "debugId": "1F8003691871788E64756E2164756E21",
+  "names": []
+}

package/package.json

@@ -1,6 +1,64 @@
 {
   "name": "@opsydyn/effect-three-rapier",
-  "version": "0.0.0-stage",
-  "stub": true,
-  "description": "Temporary package placeholder for staged publishing"
-}
+  "version": "0.1.0",
+  "description": "Rapier physics for @opsydyn/effect-three: rigid bodies described as data.",
+  "license": "MIT",
+  "repository": {
+    "type": "git",
+    "url": "git+https://github.com/opsydyn/fold-kit-experiments.git",
+    "directory": "packages/effect-three-rapier"
+  },
+  "files": [
+    "dist",
+    "src",
+    "README.md",
+    "CHANGELOG.md",
+    "LICENSE",
+    "!dist/.tsbuildinfo",
+    "!dist/api-extractor",
+    "!dist/pack"
+  ],
+  "type": "module",
+  "sideEffects": false,
+  "exports": {
+    ".": {
+      "types": "./dist/index.d.ts",
+      "bun": "./src/index.ts",
+      "default": "./dist/index.js"
+    },
+    "./package.json": "./package.json"
+  },
+  "publishConfig": {
+    "access": "public"
+  },
+  "scripts": {
+    "typecheck": "tsc -b && tsc -p tsconfig.test.json",
+    "lint": "bunx --bun oxlint --config oxlint.strict.ts",
+    "check": "bun run lint",
+    "test": "bun test --pass-with-no-tests ./src ./test",
+    "build": "tsc -b && bun build ./src/index.ts --root ./src --outdir ./dist --target browser --packages external --sourcemap=linked",
+    "api:report": "api-extractor run --local",
+    "api:check": "api-extractor run",
+    "pack:check": "bun run build && publint && rm -rf dist/pack && bun pm pack --destination dist/pack && attw dist/pack/*.tgz --profile esm-only"
+  },
+  "dependencies": {
+    "@dimforge/rapier3d-compat": "0.21.0"
+  },
+  "devDependencies": {
+    "@arethetypeswrong/cli": "0.18.5",
+    "@microsoft/api-extractor": "7.59.4",
+    "@opsydyn/effect-three": "0.1.0",
+    "@opsydyn/oxlint-effect": "2.0.1",
+    "@types/bun": "1.4.3",
+    "@types/three": "0.186.0",
+    "oxlint": "1.88.0",
+    "oxlint-tsgolint": "7.0.2004",
+    "publint": "0.3.25",
+    "three": "0.186.1",
+    "typescript": "7.0.2"
+  },
+  "peerDependencies": {
+    "@opsydyn/effect-three": "0.1.0",
+    "three": ">=0.186.0 <0.187.0"
+  }
+}

package/src/index.ts

@@ -0,0 +1,357 @@
+/**
+ * Rapier physics for `@opsydyn/effect-three`: a `PhysicsEngine` that the scene graph
+ * steps. Load it once, before making the environment, and pass it on:
+ *
+ * ```ts
+ * const physics = await loadRapier();
+ * const environment = EffectThreeFoldkit.makeEnvironment(window, { physics });
+ * ```
+ *
+ * Bodies are described on meshes (`body()`) under a scene's `physics()`; this package
+ * only turns those descriptions into Rapier bodies and colliders, as react-three-rapier's
+ * `RigidBody` does (`ae5c3fe`, `src/utils/utils-rigidbody.ts` and `utils-collider.ts`),
+ * and joints into impulse joints, as its joint hooks do (`src/hooks/joints.ts`).
+ *
+ * Rapier (`@dimforge/rapier3d-compat`) is Apache-2.0; its WebAssembly is embedded, so
+ * nothing extra is fetched.
+ *
+ * @module
+ */
+import RAPIER from '@dimforge/rapier3d-compat';
+import { interactionBits } from '@opsydyn/effect-three';
+import type {
+  Body,
+  BodyPose,
+  Collider,
+  ColliderShape,
+  Collision,
+  Physics,
+  ContactForce,
+  JointLimits,
+  JointMotor,
+  PhysicsEngine,
+  PhysicsJoint,
+  PhysicsWorld,
+  Vec3,
+} from '@opsydyn/effect-three';
+
+type Rapier = typeof RAPIER;
+
+const vector = ([x, y, z]: Vec3) => ({ x, y, z });
+
+const rotation = ([x, y, z, w]: BodyPose['quaternion']) => ({ x, y, z, w });
+
+/** Body types by our names. Kinematic bodies are position based, as react-three-rapier's default. */
+const bodyTypes = {
+  dynamic: RAPIER.RigidBodyType.Dynamic,
+  fixed: RAPIER.RigidBodyType.Fixed,
+  kinematic: RAPIER.RigidBodyType.KinematicPositionBased,
+} satisfies Record<Body['type'], RAPIER.RigidBodyType>;
+
+/** The collider description for a shape; a hull Rapier cannot build becomes a small ball. */
+const shapeDesc = (rapier: Rapier, shape: ColliderShape): RAPIER.ColliderDesc => {
+  switch (shape._tag) {
+    case 'Cuboid':
+      return rapier.ColliderDesc.cuboid(...shape.halfExtents);
+    case 'Ball':
+      return rapier.ColliderDesc.ball(shape.radius);
+    case 'Hull':
+      return rapier.ColliderDesc.convexHull(shape.points) ?? rapier.ColliderDesc.ball(1e-3);
+    case 'Capsule':
+      return rapier.ColliderDesc.capsule(shape.halfHeight, shape.radius);
+    case 'Cylinder':
+      return rapier.ColliderDesc.cylinder(shape.halfHeight, shape.radius);
+    case 'Cone':
+      return rapier.ColliderDesc.cone(shape.halfHeight, shape.radius);
+    case 'Trimesh':
+      return rapier.ColliderDesc.trimesh(shape.vertices, shape.indices);
+  }
+};
+
+/** A collider placed in its body. */
+const colliderDesc = (rapier: Rapier, collider: Collider): RAPIER.ColliderDesc =>
+  shapeDesc(rapier, collider.shape)
+    .setTranslation(...collider.translation)
+    .setRotation(rotation(collider.rotation));
+
+/**
+ * The events a body's colliders report: collisions always, contact forces over its
+ * threshold when it has one (react-three-rapier's `onContactForce` turns on
+ * `CONTACT_FORCE_EVENTS`).
+ */
+const reporting = (colliders: ReadonlyArray<RAPIER.Collider>, body: Body): void => {
+  for (const collider of colliders) {
+    if (body.contactForces === null) {
+      collider.setActiveEvents(RAPIER.ActiveEvents.COLLISION_EVENTS);
+      continue;
+    }
+    collider.setActiveEvents(
+      RAPIER.ActiveEvents.COLLISION_EVENTS | RAPIER.ActiveEvents.CONTACT_FORCE_EVENTS,
+    );
+    collider.setContactForceEventThreshold(body.contactForces);
+  }
+};
+
+/**
+ * Applies a body's surface and mass settings to its colliders. A given mass is shared
+ * among them; otherwise each has density 1.
+ */
+const surface = (colliders: ReadonlyArray<RAPIER.Collider>, body: Body): void => {
+  for (const collider of colliders) {
+    collider.setFriction(body.friction);
+    collider.setRestitution(body.restitution);
+    collider.setSensor(body.sensor);
+    if (body.mass === null) collider.setDensity(1);
+    else collider.setMass(body.mass / colliders.length);
+    collider.setCollisionGroups(interactionBits(body.collisionGroups));
+    collider.setSolverGroups(interactionBits(body.solverGroups));
+  }
+};
+
+/** Applies a body's motion settings. */
+const motion = (rigidBody: RAPIER.RigidBody, body: Body): void => {
+  rigidBody.setBodyType(bodyTypes[body.type], true);
+  rigidBody.setLinearDamping(body.linearDamping);
+  rigidBody.setAngularDamping(body.angularDamping);
+  rigidBody.setGravityScale(body.gravityScale, true);
+  rigidBody.enableCcd(body.ccd);
+};
+
+/** The limits a joint has, if it is a hinge or slider with limits. */
+const limitsOf = (joint: PhysicsJoint): JointLimits | null =>
+  joint.kind._tag === 'Revolute' || joint.kind._tag === 'Prismatic' ? joint.kind.limits : null;
+
+/** The motor a joint has, if it is a hinge or slider with one. */
+const motorOf = (joint: PhysicsJoint): JointMotor | null =>
+  joint.kind._tag === 'Revolute' || joint.kind._tag === 'Prismatic' ? joint.kind.motor : null;
+
+/** Drives a hinge or slider once made: Rapier's `configureMotor`, set on the joint. */
+const drive = (made: RAPIER.ImpulseJoint, motor: JointMotor | null): void => {
+  if (motor !== null && made instanceof RAPIER.UnitImpulseJoint) {
+    made.configureMotor(motor.position, motor.velocity, motor.stiffness, motor.damping);
+  }
+};
+
+/**
+ * Limits a hinge or slider once made. React-three-rapier sets them on the joint data, but
+ * Rapier's `JointData.intoRaw` (0.21) passes them on for prismatic joints only, so a
+ * hinge's would be lost: they are set on the joint instead.
+ */
+const limit = (made: RAPIER.ImpulseJoint, limits: JointLimits | null): void => {
+  if (limits !== null && made instanceof RAPIER.UnitImpulseJoint) made.setLimits(...limits);
+};
+
+/** Rapier's joint data for a joint, anchors in each body's space. */
+const jointData = (rapier: Rapier, joint: PhysicsJoint): RAPIER.JointData => {
+  const a = vector(joint.anchorA);
+  const b = vector(joint.anchorB);
+  const { kind } = joint;
+  switch (kind._tag) {
+    case 'Fixed':
+      return rapier.JointData.fixed(a, rotation(kind.frameA), b, rotation(kind.frameB));
+    case 'Spherical':
+      return rapier.JointData.spherical(a, b);
+    case 'Revolute':
+      return rapier.JointData.revolute(a, b, vector(kind.axis));
+    case 'Prismatic':
+      return rapier.JointData.prismatic(a, b, vector(kind.axis));
+    case 'Rope':
+      return rapier.JointData.rope(kind.length, a, b);
+    case 'Spring':
+      return rapier.JointData.spring(kind.restLength, kind.stiffness, kind.damping, a, b);
+  }
+};
+
+/** Which body a collider belongs to, and which part of it, by name. */
+type Owner = { readonly key: string; readonly part?: string };
+
+/** Two colliders' owners as an event's `a` and `b`, with their parts. */
+const pair = (a: Owner, b: Owner) => ({
+  a: a.key,
+  b: b.key,
+  ...(a.part === undefined ? {} : { aPart: a.part }),
+  ...(b.part === undefined ? {} : { bPart: b.part }),
+});
+
+type Held = {
+  readonly rigidBody: RAPIER.RigidBody;
+  readonly colliders: ReadonlyArray<RAPIER.Collider>;
+};
+
+const createWorld =
+  (rapier: Rapier) =>
+  (initial: Physics): PhysicsWorld => {
+    const world = new rapier.World(vector(initial.gravity));
+    const events = new rapier.EventQueue(true);
+    const bodies = new Map<string, Held>();
+    /** Each collider's body, and the part of it the collider is (when named). */
+    const keysByCollider = new Map<number, Owner>();
+    const joints = new Map<
+      string,
+      { readonly joint: RAPIER.ImpulseJoint; readonly a: string; readonly b: string }
+    >();
+
+    const add: PhysicsWorld['add'] = (key, body, colliders, pose) => {
+      const desc = new rapier.RigidBodyDesc(bodyTypes[body.type])
+        .setTranslation(...pose.position)
+        .setRotation(rotation(pose.quaternion))
+        .setLinvel(...body.linearVelocity)
+        .setAngvel(vector(body.angularVelocity))
+        .setLinearDamping(body.linearDamping)
+        .setAngularDamping(body.angularDamping)
+        .setGravityScale(body.gravityScale)
+        .setCcdEnabled(body.ccd);
+      const rigidBody = world.createRigidBody(desc);
+      const made = colliders.map((collider) =>
+        world.createCollider(colliderDesc(rapier, collider), rigidBody),
+      );
+      surface(made, body);
+      reporting(made, body);
+      bodies.set(key, { rigidBody, colliders: made });
+      made.forEach((collider, i) => {
+        const part = colliders[i]?.part;
+        keysByCollider.set(collider.handle, { key, ...(part === undefined ? {} : { part }) });
+      });
+    };
+
+    const remove: PhysicsWorld['remove'] = (key) => {
+      const held = bodies.get(key);
+      if (held === undefined) return;
+      for (const collider of held.colliders) keysByCollider.delete(collider.handle);
+      // Rapier removes the body's joints with it; forget them, as their handles are reused.
+      for (const [id, joined] of joints)
+        if (joined.a === key || joined.b === key) joints.delete(id);
+      world.removeRigidBody(held.rigidBody);
+      bodies.delete(key);
+    };
+
+    const addJoint: PhysicsWorld['addJoint'] = (id, joint, a, b) => {
+      const first = bodies.get(a);
+      const second = bodies.get(b);
+      if (first === undefined || second === undefined) return;
+      const made = world.createImpulseJoint(
+        jointData(rapier, joint),
+        first.rigidBody,
+        second.rigidBody,
+        true,
+      );
+      limit(made, limitsOf(joint));
+      drive(made, motorOf(joint));
+      made.setContactsEnabled(joint.contacts);
+      joints.set(id, { joint: made, a, b });
+    };
+
+    const removeJoint: PhysicsWorld['removeJoint'] = (id) => {
+      const joined = joints.get(id);
+      if (joined === undefined) return;
+      world.removeImpulseJoint(joined.joint, true);
+      joints.delete(id);
+    };
+
+    const collisionsOf = (): ReadonlyArray<Collision> => {
+      const collisions: Array<Collision> = [];
+      events.drainCollisionEvents((first, second, started) => {
+        const a = keysByCollider.get(first);
+        const b = keysByCollider.get(second);
+        if (a !== undefined && b !== undefined) collisions.push({ ...pair(a, b), started });
+      });
+      return collisions;
+    };
+
+    /** Contact force events since the last call, kept across steps until asked for. */
+    let forces: Array<ContactForce> = [];
+    function recordForce(event: RAPIER.TempContactForceEvent): void {
+      const a = keysByCollider.get(event.collider1());
+      const b = keysByCollider.get(event.collider2());
+      if (a === undefined || b === undefined) return;
+      const total = event.totalForce();
+      const direction = event.maxForceDirection();
+      forces.push({
+        ...pair(a, b),
+        totalForce: [total.x, total.y, total.z],
+        totalForceMagnitude: event.totalForceMagnitude(),
+        maxForceDirection: [direction.x, direction.y, direction.z],
+        maxForceMagnitude: event.maxForceMagnitude(),
+      });
+    }
+    const drainForces = (): void => events.drainContactForceEvents(recordForce);
+
+    return {
+      configure: (physics) => {
+        world.gravity = vector(physics.gravity);
+      },
+      add,
+      update: (key, body) => {
+        const held = bodies.get(key);
+        if (held === undefined) return;
+        motion(held.rigidBody, body);
+        surface(held.colliders, body);
+        reporting(held.colliders, body);
+      },
+      teleport: (key, pose) => {
+        const held = bodies.get(key);
+        if (held === undefined) return;
+        held.rigidBody.setTranslation(vector(pose.position), true);
+        held.rigidBody.setRotation(rotation(pose.quaternion), true);
+        held.rigidBody.setLinvel({ x: 0, y: 0, z: 0 }, true);
+        held.rigidBody.setAngvel({ x: 0, y: 0, z: 0 }, true);
+      },
+      moveKinematic: (key, pose) => {
+        const held = bodies.get(key);
+        if (held === undefined) return;
+        held.rigidBody.setNextKinematicTranslation(vector(pose.position));
+        held.rigidBody.setNextKinematicRotation(rotation(pose.quaternion));
+      },
+      applyImpulse: (key, impulse) => {
+        bodies.get(key)?.rigidBody.applyImpulse(vector(impulse), true);
+      },
+      remove,
+      addJoint,
+      removeJoint,
+      step: (seconds) => {
+        world.timestep = seconds;
+        world.step(events);
+        drainForces();
+        return collisionsOf();
+      },
+      contactForces: () => {
+        const drained = forces;
+        forces = [];
+        return drained;
+      },
+      // react-three-rapier's Debug: Rapier's own line rendering of colliders and joints.
+      debugLines: () => {
+        const { vertices, colors } = world.debugRender();
+        return { vertices, colors };
+      },
+      pose: (key) => {
+        const held = bodies.get(key);
+        if (held === undefined) return undefined;
+        const { x, y, z } = held.rigidBody.translation();
+        const turn = held.rigidBody.rotation();
+        return { position: [x, y, z], quaternion: [turn.x, turn.y, turn.z, turn.w] };
+      },
+      awake: () => {
+        for (const { rigidBody } of bodies.values()) {
+          if (rigidBody.isDynamic() && !rigidBody.isSleeping()) return true;
+        }
+        return false;
+      },
+      dispose: () => {
+        bodies.clear();
+        keysByCollider.clear();
+        joints.clear();
+        events.free();
+        world.free();
+      },
+    };
+  };
+
+/**
+ * Loads Rapier's WebAssembly and returns the engine. Call once per page; the engine makes
+ * a world for each scene with physics.
+ */
+export const loadRapier = async (): Promise<PhysicsEngine> => {
+  await RAPIER.init();
+  return { createWorld: createWorld(RAPIER) };
+};