@react-three/rapier 0.16.0-canary.1 → 1.0.0

package/dist/declarations/src/components/Physics.d.ts

@@ -1,9 +1,8 @@
 import type Rapier from "@dimforge/rapier3d-compat";
-import { Collider, ColliderHandle, RigidBody, RigidBodyHandle } from "@dimforge/rapier3d-compat";
+import { Collider, ColliderHandle, RigidBody, RigidBodyHandle, World } from "@dimforge/rapier3d-compat";
 import React, { FC, ReactNode } from "react";
 import { Matrix4, Object3D, Vector3 } from "three";
 import { CollisionEnterHandler, CollisionExitHandler, ContactForceHandler, IntersectionEnterHandler, IntersectionExitHandler, RigidBodyAutoCollider, Vector3Tuple } from "../types";
-import { WorldApi } from "../utils/api";
 export interface RigidBodyState {
     meshType: "instancedMesh" | "mesh";
     rigidBody: RigidBody;
@@ -18,7 +17,7 @@ export interface RigidBodyState {
     isSleeping: boolean;
 }
 export declare type RigidBodyStateMap = Map<RigidBody["handle"], RigidBodyState>;
-export declare type WorldStepCallback = (worldApi: WorldApi) => void;
+export declare type WorldStepCallback = (world: World) => void;
 export declare type WorldStepCallbackSet = Set<{
     current: WorldStepCallback;
 }>;
@@ -77,7 +76,7 @@ export interface RapierContext {
     /**
      * The Rapier physics world
      */
-    world: WorldApi;
+    world: World;
     /**
      * If the physics simulation is paused
      */
@@ -116,6 +115,43 @@ export interface PhysicsProps {
      * @defaultValue [0, -9.81, 0]
      */
     gravity?: Vector3Tuple;
+    /**
+     * The maximum velocity iterations the velocity-based constraint solver can make to attempt
+     * to remove the energy introduced by constraint stabilization.
+     *
+     * @defaultValue 1
+     */
+    maxStabilizationIterations?: number;
+    /**
+     * The maximum velocity iterations the velocity-based friction constraint solver can make.
+     *
+     * The greater this value is, the most realistic friction will be.
+     * However a greater number of iterations is more computationally intensive.
+     *
+     * @defaultValue 8
+     */
+    maxVelocityFrictionIterations?: number;
+    /**
+     * The maximum velocity iterations the velocity-based force constraint solver can make.
+     *
+     * The greater this value is, the most rigid and realistic the physics simulation will be.
+     * However a greater number of iterations is more computationally intensive.
+     *
+     * @defaultValue 4
+     */
+    maxVelocityIterations?: number;
+    /**
+     * The maximal distance separating two objects that will generate predictive contacts
+     *
+     * @defaultValue 0.002
+     *
+     */
+    predictionDistance?: number;
+    /**
+     * The Error Reduction Parameter in between 0 and 1, is the proportion of the positional error to be corrected at each time step
+     * @defaultValue 0.8
+     */
+    erp?: number;
     /**
      * Set the base automatic colliders for this physics world
      * All Meshes inside RigidBodies will generate a collider

package/dist/declarations/src/index.d.ts

@@ -4,7 +4,6 @@ export type { InstancedRigidBodiesProps, InstancedRigidBodyProps } from "./compo
 export type { CylinderColliderProps, BallColliderProps, CapsuleColliderProps, ConeColliderProps, ConvexHullColliderProps, CuboidColliderProps, HeightfieldColliderProps, RoundCuboidColliderProps, TrimeshColliderProps, ColliderOptionsRequiredArgs } from "./components/AnyCollider";
 export type { PhysicsProps, RapierContext, WorldStepCallback } from "./components/Physics";
 export type { MeshColliderProps } from "./components/MeshCollider";
-export type { WorldApi } from "./utils/api";
 export { Physics } from "./components/Physics";
 export { RigidBody } from "./components/RigidBody";
 export { MeshCollider } from "./components/MeshCollider";

package/dist/declarations/src/utils/singleton-proxy.d.ts

@@ -0,0 +1,10 @@
+/**
+ * Creates a proxy that will create a singleton instance of the given class
+ * when a property is accessed, and not before.
+ *
+ * @returns A proxy and a reset function, so that the instance can created again
+ */
+export declare const createSingletonProxy: <SingletonClass extends object, CreationFn extends () => SingletonClass = () => SingletonClass>(createInstance: CreationFn) => {
+    proxy: SingletonClass;
+    reset: () => void;
+};

package/dist/declarations/src/utils/utils-collider.d.ts

@@ -1,7 +1,6 @@
-import { Collider, RigidBody } from "@dimforge/rapier3d-compat";
+import { Collider, RigidBody, World } from "@dimforge/rapier3d-compat";
 import { BufferGeometry, Object3D, Vector3 } from "three";
 import { ColliderProps, RigidBodyProps } from "..";
-import { WorldApi } from "./api";
 import { ColliderState, ColliderStateMap, EventMap } from "../components/Physics";
 import { ColliderShape, RigidBodyAutoCollider } from "../types";
 export declare const scaleColliderArgs: (shape: ColliderShape, args: (number | ArrayLike<number> | {
@@ -13,7 +12,7 @@ export declare const scaleColliderArgs: (shape: ColliderShape, args: (number | A
     y: number;
     z: number;
 })[];
-export declare const createColliderFromOptions: (options: ColliderProps, world: WorldApi, scale: Vector3, getRigidBody?: () => RigidBody) => Collider;
+export declare const createColliderFromOptions: (options: ColliderProps, world: World, scale: Vector3, getRigidBody?: () => RigidBody) => Collider;
 declare type ImmutableColliderOptions = (keyof ColliderProps)[];
 export declare const immutableColliderOptions: ImmutableColliderOptions;
 export declare const setColliderOptions: (collider: Collider, options: ColliderProps, states: ColliderStateMap) => void;

package/dist/react-three-rapier.cjs.dev.js

@@ -72,40 +72,6 @@ function _objectSpread2(target) {
   return target;
 }
 
-const createWorldApi = getWorld => {
-  return {
-    raw: () => getWorld(),
-    getCollider: handle => getWorld().getCollider(handle),
-    getRigidBody: handle => getWorld().getRigidBody(handle),
-    createRigidBody: desc => getWorld().createRigidBody(desc),
-    createCollider: (desc, rigidBody) => getWorld().createCollider(desc, rigidBody),
-    removeRigidBody: rigidBody => {
-      if (!getWorld().bodies.contains(rigidBody.handle)) return;
-      getWorld().removeRigidBody(rigidBody);
-    },
-    removeCollider: (collider, wakeUp = true) => {
-      if (!getWorld().colliders.contains(collider.handle)) return;
-      getWorld().removeCollider(collider, wakeUp);
-    },
-    createImpulseJoint: (params, rigidBodyA, rigidBodyB, wakeUp = true) => getWorld().createImpulseJoint(params, rigidBodyA, rigidBodyB, wakeUp),
-    removeImpulseJoint: (joint, wakeUp = true) => {
-      if (!getWorld().impulseJoints.contains(joint.handle)) return;
-      getWorld().removeImpulseJoint(joint, wakeUp);
-    },
-    forEachCollider: callback => getWorld().forEachCollider(callback),
-    setGravity: ({
-      x,
-      y,
-      z
-    }) => getWorld().gravity = {
-      x,
-      y,
-      z
-    },
-    debugRender: () => getWorld().debugRender()
-  };
-};
-
 const _quaternion = new three.Quaternion();
 new three.Euler();
 const _vector3 = new three.Vector3();
@@ -684,30 +650,37 @@ const Debug = /*#__PURE__*/React.memo(() => {
 });
 
 /**
- * Initiate an instance and return a safe getter
+ * Creates a proxy that will create a singleton instance of the given class
+ * when a property is accessed, and not before.
+ *
+ * @returns A proxy and a reset function, so that the instance can created again
  */
+const createSingletonProxy = createInstance => {
+  let instance;
+  const handler = {
+    get(target, prop) {
+      if (!instance) {
+        instance = createInstance();
+      }
 
-const useImperativeInstance = (createFn, destroyFn, dependencyList) => {
-  const ref = React.useRef();
-  const getInstance = React.useCallback(() => {
-    if (!ref.current) {
-      ref.current = createFn();
+      return Reflect.get(instance, prop);
     }
 
-    return ref.current;
-  }, dependencyList);
-  React.useEffect(() => {
-    // Save the destroy function and instance
-    const instance = getInstance();
+  };
+  const proxy = new Proxy({}, handler);
 
-    const destroy = () => destroyFn(instance);
+  const reset = () => {
+    instance = undefined;
+  };
+  /**
+   * Return the proxy and a reset function
+   */
 
-    return () => {
-      destroy();
-      ref.current = undefined;
-    };
-  }, [getInstance]);
-  return getInstance;
+
+  return {
+    proxy,
+    reset
+  };
 };
 
 const rapierContext = /*#__PURE__*/React.createContext(undefined);
@@ -745,52 +718,67 @@ const importRapier = async () => {
  * The main physics component used to create a physics world.
  * @category Components
  */
-const Physics = ({
-  colliders: _colliders = "cuboid",
-  gravity: _gravity = [0, -9.81, 0],
-  children,
-  timeStep: _timeStep = 1 / 60,
-  paused: _paused = false,
-  interpolate: _interpolate = true,
-  updatePriority,
-  updateLoop: _updateLoop = "follow",
-  debug: _debug = false
-}) => {
+const Physics = props => {
+  const {
+    colliders = "cuboid",
+    children,
+    timeStep = 1 / 60,
+    paused = false,
+    interpolate = true,
+    updatePriority,
+    updateLoop = "follow",
+    debug = false,
+    gravity = [0, -9.81, 0],
+    maxStabilizationIterations = 1,
+    maxVelocityFrictionIterations = 8,
+    maxVelocityIterations = 4,
+    predictionDistance = 0.002,
+    erp = 0.8
+  } = props;
   const rapier = useAsset.useAsset(importRapier);
   const {
     invalidate
-  } = fiber.useThree(); // Init World
-
-  const getWorld = useImperativeInstance(() => {
-    return new rapier.World(vectorArrayToVector3(_gravity));
-  }, world => {
-    world.free();
-  }, []);
+  } = fiber.useThree();
   const rigidBodyStates = useConst(() => new Map());
   const colliderStates = useConst(() => new Map());
   const rigidBodyEvents = useConst(() => new Map());
   const colliderEvents = useConst(() => new Map());
   const eventQueue = useConst(() => new rapier3dCompat.EventQueue(false));
   const beforeStepCallbacks = useConst(() => new Set());
-  const afterStepCallbacks = useConst(() => new Set()); // Update gravity
+  const afterStepCallbacks = useConst(() => new Set());
+  /**
+   * Initiate the world
+   * This creates a singleton proxy, so that the world is only created when
+   * something within it is accessed.
+   */
 
+  const {
+    proxy: worldProxy,
+    reset: resetWorldProxy
+  } = useConst(() => createSingletonProxy(() => new rapier.World(vectorArrayToVector3(gravity))));
   React.useEffect(() => {
-    const world = getWorld();
+    return () => {
+      worldProxy.free();
+      resetWorldProxy();
+    };
+  }, []); // Update mutable props
 
-    if (world) {
-      world.gravity = vectorArrayToVector3(_gravity);
-    }
-  }, [_gravity]);
-  const api = React.useMemo(() => createWorldApi(getWorld), []);
+  React.useEffect(() => {
+    worldProxy.gravity = vectorArrayToVector3(gravity);
+    worldProxy.integrationParameters.maxStabilizationIterations = maxStabilizationIterations;
+    worldProxy.integrationParameters.maxVelocityFrictionIterations = maxVelocityFrictionIterations;
+    worldProxy.integrationParameters.maxVelocityIterations = maxVelocityIterations;
+    worldProxy.integrationParameters.predictionDistance = predictionDistance;
+    worldProxy.integrationParameters.erp = erp;
+  }, [worldProxy, ...gravity, maxStabilizationIterations, maxVelocityIterations, maxVelocityFrictionIterations, predictionDistance, erp]);
   const getSourceFromColliderHandle = React.useCallback(handle => {
     var _collider$parent;
 
-    const world = getWorld();
-    const collider = world.getCollider(handle);
+    const collider = worldProxy.getCollider(handle);
     const colEvents = colliderEvents.get(handle);
     const colliderState = colliderStates.get(handle);
     const rigidBodyHandle = collider === null || collider === void 0 ? void 0 : (_collider$parent = collider.parent()) === null || _collider$parent === void 0 ? void 0 : _collider$parent.handle;
-    const rigidBody = rigidBodyHandle !== undefined ? world.getRigidBody(rigidBodyHandle) : undefined;
+    const rigidBody = rigidBodyHandle !== undefined ? worldProxy.getRigidBody(rigidBodyHandle) : undefined;
     const rbEvents = rigidBody && rigidBodyHandle !== undefined ? rigidBodyEvents.get(rigidBodyHandle) : undefined;
     const rigidBodyState = rigidBodyHandle !== undefined ? rigidBodyStates.get(rigidBodyHandle) : undefined;
     const source = {
@@ -812,11 +800,11 @@ const Physics = ({
     accumulator: 0
   });
   const step = React.useCallback(dt => {
-    const world = getWorld();
+    const world = worldProxy;
     /* Check if the timestep is supposed to be variable. We'll do this here
       once so we don't have to string-check every frame. */
 
-    const timeStepVariable = _timeStep === "vary";
+    const timeStepVariable = timeStep === "vary";
     /**
      * Fixed timeStep simulation progression
      * @see https://gafferongames.com/post/fix_your_timestep/
@@ -827,12 +815,12 @@ const Physics = ({
     const stepWorld = () => {
       // Trigger beforeStep callbacks
       beforeStepCallbacks.forEach(callback => {
-        callback.current(api);
+        callback.current(worldProxy);
       });
       world.step(eventQueue); // Trigger afterStep callbacks
 
       afterStepCallbacks.forEach(callback => {
-        callback.current(api);
+        callback.current(worldProxy);
       });
     };
 
@@ -840,15 +828,15 @@ const Physics = ({
       world.timestep = clampedDelta;
       stepWorld();
     } else {
-      world.timestep = _timeStep; // don't step time forwards if paused
+      world.timestep = timeStep; // don't step time forwards if paused
       // Increase accumulator
 
       steppingState.accumulator += clampedDelta;
 
-      while (steppingState.accumulator >= _timeStep) {
+      while (steppingState.accumulator >= timeStep) {
         // Set up previous state
         // needed for accurate interpolations if the world steps more than once
-        if (_interpolate) {
+        if (interpolate) {
           steppingState.previousState = {};
           world.forEachRigidBody(body => {
             steppingState.previousState[body.handle] = {
@@ -859,11 +847,11 @@ const Physics = ({
         }
 
         stepWorld();
-        steppingState.accumulator -= _timeStep;
+        steppingState.accumulator -= timeStep;
       }
     }
 
-    const interpolationAlpha = timeStepVariable || !_interpolate || _paused ? 1 : steppingState.accumulator / _timeStep; // Update meshes
+    const interpolationAlpha = timeStepVariable || !interpolate || paused ? 1 : steppingState.accumulator / timeStep; // Update meshes
 
     rigidBodyStates.forEach((state, handle) => {
       const rigidBody = world.getRigidBody(handle);
@@ -1019,13 +1007,13 @@ const Physics = ({
     world.forEachActiveRigidBody(() => {
       invalidate();
     });
-  }, [_paused, _timeStep, _interpolate]);
+  }, [paused, timeStep, interpolate]);
   const context = React.useMemo(() => ({
     rapier,
-    world: api,
+    world: worldProxy,
     physicsOptions: {
-      colliders: _colliders,
-      gravity: _gravity
+      colliders,
+      gravity
     },
     rigidBodyStates,
     colliderStates,
@@ -1033,22 +1021,22 @@ const Physics = ({
     colliderEvents,
     beforeStepCallbacks,
     afterStepCallbacks,
-    isPaused: _paused,
-    isDebug: _debug,
+    isPaused: paused,
+    isDebug: debug,
     step
-  }), [_paused, step, _debug, _colliders, _gravity]);
+  }), [paused, step, debug, colliders, gravity]);
   const stepCallback = React.useCallback(delta => {
-    if (!_paused) {
+    if (!paused) {
       step(delta);
     }
-  }, [_paused, step]);
+  }, [paused, step]);
   return /*#__PURE__*/React__default["default"].createElement(rapierContext.Provider, {
     value: context
   }, /*#__PURE__*/React__default["default"].createElement(FrameStepper$1, {
     onStep: stepCallback,
-    type: _updateLoop,
+    type: updateLoop,
     updatePriority: updatePriority
-  }), _debug && /*#__PURE__*/React__default["default"].createElement(Debug, null), children);
+  }), debug && /*#__PURE__*/React__default["default"].createElement(Debug, null), children);
 };
 
 function _extends() {
@@ -1068,6 +1056,33 @@ function _extends() {
   return _extends.apply(this, arguments);
 }
 
+/**
+ * Initiate an instance and return a safe getter
+ */
+
+const useImperativeInstance = (createFn, destroyFn, dependencyList) => {
+  const ref = React.useRef();
+  const getInstance = React.useCallback(() => {
+    if (!ref.current) {
+      ref.current = createFn();
+    }
+
+    return ref.current;
+  }, dependencyList);
+  React.useEffect(() => {
+    // Save the destroy function and instance
+    const instance = getInstance();
+
+    const destroy = () => destroyFn(instance);
+
+    return () => {
+      destroy();
+      ref.current = undefined;
+    };
+  }, [getInstance]);
+  return getInstance;
+};
+
 /**
  * Takes an object resembling a Vector3 and returs a Three.Vector3
  * @category Math helpers
@@ -1167,7 +1182,9 @@ const AnyCollider = /*#__PURE__*/React.memo( /*#__PURE__*/React.forwardRef((prop
     colliderRef.current = collider;
     return collider;
   }, collider => {
-    world.removeCollider(collider);
+    if (world.getCollider(collider.handle)) {
+      world.removeCollider(collider, true);
+    }
   }, [...immutablePropArray, rigidBodyContext]);
   React.useEffect(() => {
     const collider = getInstance();
@@ -1503,7 +1520,9 @@ const RigidBody = /*#__PURE__*/React.memo( /*#__PURE__*/React.forwardRef((props,
     rigidBodyRef.current = rigidBody;
     return rigidBody;
   }, rigidBody => {
-    world.removeRigidBody(rigidBody);
+    if (world.getRigidBody(rigidBody.handle)) {
+      world.removeRigidBody(rigidBody);
+    }
   }, immutablePropArray); // Only provide a object state after the ref has been set
 
   React.useEffect(() => {
@@ -1669,15 +1688,17 @@ const useImpulseJoint = (body1, body2, params) => {
   const jointRef = React.useRef();
   useImperativeInstance(() => {
     if (body1.current && body2.current) {
-      const newJoint = world.createImpulseJoint(params, body1.current, body2.current);
-      jointRef.current = newJoint; // console.log(body1.current, body2.current, newJoint);
-
+      const newJoint = world.createImpulseJoint(params, body1.current, body2.current, true);
+      jointRef.current = newJoint;
       return newJoint;
     }
   }, joint => {
     if (joint) {
       jointRef.current = undefined;
-      world.removeImpulseJoint(joint);
+
+      if (world.getImpulseJoint(joint.handle)) {
+        world.removeImpulseJoint(joint, true);
+      }
     }
   }, []);
   return jointRef;

package/dist/react-three-rapier.cjs.prod.js

@@ -72,40 +72,6 @@ function _objectSpread2(target) {
   return target;
 }
 
-const createWorldApi = getWorld => {
-  return {
-    raw: () => getWorld(),
-    getCollider: handle => getWorld().getCollider(handle),
-    getRigidBody: handle => getWorld().getRigidBody(handle),
-    createRigidBody: desc => getWorld().createRigidBody(desc),
-    createCollider: (desc, rigidBody) => getWorld().createCollider(desc, rigidBody),
-    removeRigidBody: rigidBody => {
-      if (!getWorld().bodies.contains(rigidBody.handle)) return;
-      getWorld().removeRigidBody(rigidBody);
-    },
-    removeCollider: (collider, wakeUp = true) => {
-      if (!getWorld().colliders.contains(collider.handle)) return;
-      getWorld().removeCollider(collider, wakeUp);
-    },
-    createImpulseJoint: (params, rigidBodyA, rigidBodyB, wakeUp = true) => getWorld().createImpulseJoint(params, rigidBodyA, rigidBodyB, wakeUp),
-    removeImpulseJoint: (joint, wakeUp = true) => {
-      if (!getWorld().impulseJoints.contains(joint.handle)) return;
-      getWorld().removeImpulseJoint(joint, wakeUp);
-    },
-    forEachCollider: callback => getWorld().forEachCollider(callback),
-    setGravity: ({
-      x,
-      y,
-      z
-    }) => getWorld().gravity = {
-      x,
-      y,
-      z
-    },
-    debugRender: () => getWorld().debugRender()
-  };
-};
-
 const _quaternion = new three.Quaternion();
 new three.Euler();
 const _vector3 = new three.Vector3();
@@ -684,30 +650,37 @@ const Debug = /*#__PURE__*/React.memo(() => {
 });
 
 /**
- * Initiate an instance and return a safe getter
+ * Creates a proxy that will create a singleton instance of the given class
+ * when a property is accessed, and not before.
+ *
+ * @returns A proxy and a reset function, so that the instance can created again
  */
+const createSingletonProxy = createInstance => {
+  let instance;
+  const handler = {
+    get(target, prop) {
+      if (!instance) {
+        instance = createInstance();
+      }
 
-const useImperativeInstance = (createFn, destroyFn, dependencyList) => {
-  const ref = React.useRef();
-  const getInstance = React.useCallback(() => {
-    if (!ref.current) {
-      ref.current = createFn();
+      return Reflect.get(instance, prop);
     }
 
-    return ref.current;
-  }, dependencyList);
-  React.useEffect(() => {
-    // Save the destroy function and instance
-    const instance = getInstance();
+  };
+  const proxy = new Proxy({}, handler);
 
-    const destroy = () => destroyFn(instance);
+  const reset = () => {
+    instance = undefined;
+  };
+  /**
+   * Return the proxy and a reset function
+   */
 
-    return () => {
-      destroy();
-      ref.current = undefined;
-    };
-  }, [getInstance]);
-  return getInstance;
+
+  return {
+    proxy,
+    reset
+  };
 };
 
 const rapierContext = /*#__PURE__*/React.createContext(undefined);
@@ -745,52 +718,67 @@ const importRapier = async () => {
  * The main physics component used to create a physics world.
  * @category Components
  */
-const Physics = ({
-  colliders: _colliders = "cuboid",
-  gravity: _gravity = [0, -9.81, 0],
-  children,
-  timeStep: _timeStep = 1 / 60,
-  paused: _paused = false,
-  interpolate: _interpolate = true,
-  updatePriority,
-  updateLoop: _updateLoop = "follow",
-  debug: _debug = false
-}) => {
+const Physics = props => {
+  const {
+    colliders = "cuboid",
+    children,
+    timeStep = 1 / 60,
+    paused = false,
+    interpolate = true,
+    updatePriority,
+    updateLoop = "follow",
+    debug = false,
+    gravity = [0, -9.81, 0],
+    maxStabilizationIterations = 1,
+    maxVelocityFrictionIterations = 8,
+    maxVelocityIterations = 4,
+    predictionDistance = 0.002,
+    erp = 0.8
+  } = props;
   const rapier = useAsset.useAsset(importRapier);
   const {
     invalidate
-  } = fiber.useThree(); // Init World
-
-  const getWorld = useImperativeInstance(() => {
-    return new rapier.World(vectorArrayToVector3(_gravity));
-  }, world => {
-    world.free();
-  }, []);
+  } = fiber.useThree();
   const rigidBodyStates = useConst(() => new Map());
   const colliderStates = useConst(() => new Map());
   const rigidBodyEvents = useConst(() => new Map());
   const colliderEvents = useConst(() => new Map());
   const eventQueue = useConst(() => new rapier3dCompat.EventQueue(false));
   const beforeStepCallbacks = useConst(() => new Set());
-  const afterStepCallbacks = useConst(() => new Set()); // Update gravity
+  const afterStepCallbacks = useConst(() => new Set());
+  /**
+   * Initiate the world
+   * This creates a singleton proxy, so that the world is only created when
+   * something within it is accessed.
+   */
 
+  const {
+    proxy: worldProxy,
+    reset: resetWorldProxy
+  } = useConst(() => createSingletonProxy(() => new rapier.World(vectorArrayToVector3(gravity))));
   React.useEffect(() => {
-    const world = getWorld();
+    return () => {
+      worldProxy.free();
+      resetWorldProxy();
+    };
+  }, []); // Update mutable props
 
-    if (world) {
-      world.gravity = vectorArrayToVector3(_gravity);
-    }
-  }, [_gravity]);
-  const api = React.useMemo(() => createWorldApi(getWorld), []);
+  React.useEffect(() => {
+    worldProxy.gravity = vectorArrayToVector3(gravity);
+    worldProxy.integrationParameters.maxStabilizationIterations = maxStabilizationIterations;
+    worldProxy.integrationParameters.maxVelocityFrictionIterations = maxVelocityFrictionIterations;
+    worldProxy.integrationParameters.maxVelocityIterations = maxVelocityIterations;
+    worldProxy.integrationParameters.predictionDistance = predictionDistance;
+    worldProxy.integrationParameters.erp = erp;
+  }, [worldProxy, ...gravity, maxStabilizationIterations, maxVelocityIterations, maxVelocityFrictionIterations, predictionDistance, erp]);
   const getSourceFromColliderHandle = React.useCallback(handle => {
     var _collider$parent;
 
-    const world = getWorld();
-    const collider = world.getCollider(handle);
+    const collider = worldProxy.getCollider(handle);
     const colEvents = colliderEvents.get(handle);
     const colliderState = colliderStates.get(handle);
     const rigidBodyHandle = collider === null || collider === void 0 ? void 0 : (_collider$parent = collider.parent()) === null || _collider$parent === void 0 ? void 0 : _collider$parent.handle;
-    const rigidBody = rigidBodyHandle !== undefined ? world.getRigidBody(rigidBodyHandle) : undefined;
+    const rigidBody = rigidBodyHandle !== undefined ? worldProxy.getRigidBody(rigidBodyHandle) : undefined;
     const rbEvents = rigidBody && rigidBodyHandle !== undefined ? rigidBodyEvents.get(rigidBodyHandle) : undefined;
     const rigidBodyState = rigidBodyHandle !== undefined ? rigidBodyStates.get(rigidBodyHandle) : undefined;
     const source = {
@@ -812,11 +800,11 @@ const Physics = ({
     accumulator: 0
   });
   const step = React.useCallback(dt => {
-    const world = getWorld();
+    const world = worldProxy;
     /* Check if the timestep is supposed to be variable. We'll do this here
       once so we don't have to string-check every frame. */
 
-    const timeStepVariable = _timeStep === "vary";
+    const timeStepVariable = timeStep === "vary";
     /**
      * Fixed timeStep simulation progression
      * @see https://gafferongames.com/post/fix_your_timestep/
@@ -827,12 +815,12 @@ const Physics = ({
     const stepWorld = () => {
       // Trigger beforeStep callbacks
       beforeStepCallbacks.forEach(callback => {
-        callback.current(api);
+        callback.current(worldProxy);
       });
       world.step(eventQueue); // Trigger afterStep callbacks
 
       afterStepCallbacks.forEach(callback => {
-        callback.current(api);
+        callback.current(worldProxy);
       });
     };
 
@@ -840,15 +828,15 @@ const Physics = ({
       world.timestep = clampedDelta;
       stepWorld();
     } else {
-      world.timestep = _timeStep; // don't step time forwards if paused
+      world.timestep = timeStep; // don't step time forwards if paused
       // Increase accumulator
 
       steppingState.accumulator += clampedDelta;
 
-      while (steppingState.accumulator >= _timeStep) {
+      while (steppingState.accumulator >= timeStep) {
         // Set up previous state
         // needed for accurate interpolations if the world steps more than once
-        if (_interpolate) {
+        if (interpolate) {
           steppingState.previousState = {};
           world.forEachRigidBody(body => {
             steppingState.previousState[body.handle] = {
@@ -859,11 +847,11 @@ const Physics = ({
         }
 
         stepWorld();
-        steppingState.accumulator -= _timeStep;
+        steppingState.accumulator -= timeStep;
       }
     }
 
-    const interpolationAlpha = timeStepVariable || !_interpolate || _paused ? 1 : steppingState.accumulator / _timeStep; // Update meshes
+    const interpolationAlpha = timeStepVariable || !interpolate || paused ? 1 : steppingState.accumulator / timeStep; // Update meshes
 
     rigidBodyStates.forEach((state, handle) => {
       const rigidBody = world.getRigidBody(handle);
@@ -1019,13 +1007,13 @@ const Physics = ({
     world.forEachActiveRigidBody(() => {
       invalidate();
     });
-  }, [_paused, _timeStep, _interpolate]);
+  }, [paused, timeStep, interpolate]);
   const context = React.useMemo(() => ({
     rapier,
-    world: api,
+    world: worldProxy,
     physicsOptions: {
-      colliders: _colliders,
-      gravity: _gravity
+      colliders,
+      gravity
     },
     rigidBodyStates,
     colliderStates,
@@ -1033,22 +1021,22 @@ const Physics = ({
     colliderEvents,
     beforeStepCallbacks,
     afterStepCallbacks,
-    isPaused: _paused,
-    isDebug: _debug,
+    isPaused: paused,
+    isDebug: debug,
     step
-  }), [_paused, step, _debug, _colliders, _gravity]);
+  }), [paused, step, debug, colliders, gravity]);
   const stepCallback = React.useCallback(delta => {
-    if (!_paused) {
+    if (!paused) {
       step(delta);
     }
-  }, [_paused, step]);
+  }, [paused, step]);
   return /*#__PURE__*/React__default["default"].createElement(rapierContext.Provider, {
     value: context
   }, /*#__PURE__*/React__default["default"].createElement(FrameStepper$1, {
     onStep: stepCallback,
-    type: _updateLoop,
+    type: updateLoop,
     updatePriority: updatePriority
-  }), _debug && /*#__PURE__*/React__default["default"].createElement(Debug, null), children);
+  }), debug && /*#__PURE__*/React__default["default"].createElement(Debug, null), children);
 };
 
 function _extends() {
@@ -1068,6 +1056,33 @@ function _extends() {
   return _extends.apply(this, arguments);
 }
 
+/**
+ * Initiate an instance and return a safe getter
+ */
+
+const useImperativeInstance = (createFn, destroyFn, dependencyList) => {
+  const ref = React.useRef();
+  const getInstance = React.useCallback(() => {
+    if (!ref.current) {
+      ref.current = createFn();
+    }
+
+    return ref.current;
+  }, dependencyList);
+  React.useEffect(() => {
+    // Save the destroy function and instance
+    const instance = getInstance();
+
+    const destroy = () => destroyFn(instance);
+
+    return () => {
+      destroy();
+      ref.current = undefined;
+    };
+  }, [getInstance]);
+  return getInstance;
+};
+
 /**
  * Takes an object resembling a Vector3 and returs a Three.Vector3
  * @category Math helpers
@@ -1167,7 +1182,9 @@ const AnyCollider = /*#__PURE__*/React.memo( /*#__PURE__*/React.forwardRef((prop
     colliderRef.current = collider;
     return collider;
   }, collider => {
-    world.removeCollider(collider);
+    if (world.getCollider(collider.handle)) {
+      world.removeCollider(collider, true);
+    }
   }, [...immutablePropArray, rigidBodyContext]);
   React.useEffect(() => {
     const collider = getInstance();
@@ -1503,7 +1520,9 @@ const RigidBody = /*#__PURE__*/React.memo( /*#__PURE__*/React.forwardRef((props,
     rigidBodyRef.current = rigidBody;
     return rigidBody;
   }, rigidBody => {
-    world.removeRigidBody(rigidBody);
+    if (world.getRigidBody(rigidBody.handle)) {
+      world.removeRigidBody(rigidBody);
+    }
   }, immutablePropArray); // Only provide a object state after the ref has been set
 
   React.useEffect(() => {
@@ -1669,15 +1688,17 @@ const useImpulseJoint = (body1, body2, params) => {
   const jointRef = React.useRef();
   useImperativeInstance(() => {
     if (body1.current && body2.current) {
-      const newJoint = world.createImpulseJoint(params, body1.current, body2.current);
-      jointRef.current = newJoint; // console.log(body1.current, body2.current, newJoint);
-
+      const newJoint = world.createImpulseJoint(params, body1.current, body2.current, true);
+      jointRef.current = newJoint;
       return newJoint;
     }
   }, joint => {
     if (joint) {
       jointRef.current = undefined;
-      world.removeImpulseJoint(joint);
+
+      if (world.getImpulseJoint(joint.handle)) {
+        world.removeImpulseJoint(joint, true);
+      }
     }
   }, []);
   return jointRef;

package/dist/react-three-rapier.esm.js

@@ -1,7 +1,7 @@
 import { ActiveEvents, ColliderDesc, EventQueue, RigidBodyDesc } from '@dimforge/rapier3d-compat';
 export { CoefficientCombineRule, Collider as RapierCollider, RigidBody as RapierRigidBody } from '@dimforge/rapier3d-compat';
 import { useFrame, useThree } from '@react-three/fiber';
-import React, { useRef, useEffect, memo, useMemo, useContext, useState, useCallback, createContext, forwardRef, Fragment } from 'react';
+import React, { useRef, useEffect, memo, useMemo, useContext, useState, createContext, useCallback, forwardRef, Fragment } from 'react';
 import { Quaternion, Euler, Vector3, Object3D, Matrix4, BufferAttribute, MathUtils, DynamicDrawUsage } from 'three';
 import { useAsset } from 'use-asset';
 import { mergeVertices } from 'three-stdlib';
@@ -47,40 +47,6 @@ function _objectSpread2(target) {
   return target;
 }
 
-const createWorldApi = getWorld => {
-  return {
-    raw: () => getWorld(),
-    getCollider: handle => getWorld().getCollider(handle),
-    getRigidBody: handle => getWorld().getRigidBody(handle),
-    createRigidBody: desc => getWorld().createRigidBody(desc),
-    createCollider: (desc, rigidBody) => getWorld().createCollider(desc, rigidBody),
-    removeRigidBody: rigidBody => {
-      if (!getWorld().bodies.contains(rigidBody.handle)) return;
-      getWorld().removeRigidBody(rigidBody);
-    },
-    removeCollider: (collider, wakeUp = true) => {
-      if (!getWorld().colliders.contains(collider.handle)) return;
-      getWorld().removeCollider(collider, wakeUp);
-    },
-    createImpulseJoint: (params, rigidBodyA, rigidBodyB, wakeUp = true) => getWorld().createImpulseJoint(params, rigidBodyA, rigidBodyB, wakeUp),
-    removeImpulseJoint: (joint, wakeUp = true) => {
-      if (!getWorld().impulseJoints.contains(joint.handle)) return;
-      getWorld().removeImpulseJoint(joint, wakeUp);
-    },
-    forEachCollider: callback => getWorld().forEachCollider(callback),
-    setGravity: ({
-      x,
-      y,
-      z
-    }) => getWorld().gravity = {
-      x,
-      y,
-      z
-    },
-    debugRender: () => getWorld().debugRender()
-  };
-};
-
 const _quaternion = new Quaternion();
 new Euler();
 const _vector3 = new Vector3();
@@ -659,30 +625,37 @@ const Debug = /*#__PURE__*/memo(() => {
 });
 
 /**
- * Initiate an instance and return a safe getter
+ * Creates a proxy that will create a singleton instance of the given class
+ * when a property is accessed, and not before.
+ *
+ * @returns A proxy and a reset function, so that the instance can created again
  */
+const createSingletonProxy = createInstance => {
+  let instance;
+  const handler = {
+    get(target, prop) {
+      if (!instance) {
+        instance = createInstance();
+      }
 
-const useImperativeInstance = (createFn, destroyFn, dependencyList) => {
-  const ref = useRef();
-  const getInstance = useCallback(() => {
-    if (!ref.current) {
-      ref.current = createFn();
+      return Reflect.get(instance, prop);
     }
 
-    return ref.current;
-  }, dependencyList);
-  useEffect(() => {
-    // Save the destroy function and instance
-    const instance = getInstance();
+  };
+  const proxy = new Proxy({}, handler);
 
-    const destroy = () => destroyFn(instance);
+  const reset = () => {
+    instance = undefined;
+  };
+  /**
+   * Return the proxy and a reset function
+   */
 
-    return () => {
-      destroy();
-      ref.current = undefined;
-    };
-  }, [getInstance]);
-  return getInstance;
+
+  return {
+    proxy,
+    reset
+  };
 };
 
 const rapierContext = /*#__PURE__*/createContext(undefined);
@@ -720,52 +693,67 @@ const importRapier = async () => {
  * The main physics component used to create a physics world.
  * @category Components
  */
-const Physics = ({
-  colliders: _colliders = "cuboid",
-  gravity: _gravity = [0, -9.81, 0],
-  children,
-  timeStep: _timeStep = 1 / 60,
-  paused: _paused = false,
-  interpolate: _interpolate = true,
-  updatePriority,
-  updateLoop: _updateLoop = "follow",
-  debug: _debug = false
-}) => {
+const Physics = props => {
+  const {
+    colliders = "cuboid",
+    children,
+    timeStep = 1 / 60,
+    paused = false,
+    interpolate = true,
+    updatePriority,
+    updateLoop = "follow",
+    debug = false,
+    gravity = [0, -9.81, 0],
+    maxStabilizationIterations = 1,
+    maxVelocityFrictionIterations = 8,
+    maxVelocityIterations = 4,
+    predictionDistance = 0.002,
+    erp = 0.8
+  } = props;
   const rapier = useAsset(importRapier);
   const {
     invalidate
-  } = useThree(); // Init World
-
-  const getWorld = useImperativeInstance(() => {
-    return new rapier.World(vectorArrayToVector3(_gravity));
-  }, world => {
-    world.free();
-  }, []);
+  } = useThree();
   const rigidBodyStates = useConst(() => new Map());
   const colliderStates = useConst(() => new Map());
   const rigidBodyEvents = useConst(() => new Map());
   const colliderEvents = useConst(() => new Map());
   const eventQueue = useConst(() => new EventQueue(false));
   const beforeStepCallbacks = useConst(() => new Set());
-  const afterStepCallbacks = useConst(() => new Set()); // Update gravity
+  const afterStepCallbacks = useConst(() => new Set());
+  /**
+   * Initiate the world
+   * This creates a singleton proxy, so that the world is only created when
+   * something within it is accessed.
+   */
 
+  const {
+    proxy: worldProxy,
+    reset: resetWorldProxy
+  } = useConst(() => createSingletonProxy(() => new rapier.World(vectorArrayToVector3(gravity))));
   useEffect(() => {
-    const world = getWorld();
+    return () => {
+      worldProxy.free();
+      resetWorldProxy();
+    };
+  }, []); // Update mutable props
 
-    if (world) {
-      world.gravity = vectorArrayToVector3(_gravity);
-    }
-  }, [_gravity]);
-  const api = useMemo(() => createWorldApi(getWorld), []);
+  useEffect(() => {
+    worldProxy.gravity = vectorArrayToVector3(gravity);
+    worldProxy.integrationParameters.maxStabilizationIterations = maxStabilizationIterations;
+    worldProxy.integrationParameters.maxVelocityFrictionIterations = maxVelocityFrictionIterations;
+    worldProxy.integrationParameters.maxVelocityIterations = maxVelocityIterations;
+    worldProxy.integrationParameters.predictionDistance = predictionDistance;
+    worldProxy.integrationParameters.erp = erp;
+  }, [worldProxy, ...gravity, maxStabilizationIterations, maxVelocityIterations, maxVelocityFrictionIterations, predictionDistance, erp]);
   const getSourceFromColliderHandle = useCallback(handle => {
     var _collider$parent;
 
-    const world = getWorld();
-    const collider = world.getCollider(handle);
+    const collider = worldProxy.getCollider(handle);
     const colEvents = colliderEvents.get(handle);
     const colliderState = colliderStates.get(handle);
     const rigidBodyHandle = collider === null || collider === void 0 ? void 0 : (_collider$parent = collider.parent()) === null || _collider$parent === void 0 ? void 0 : _collider$parent.handle;
-    const rigidBody = rigidBodyHandle !== undefined ? world.getRigidBody(rigidBodyHandle) : undefined;
+    const rigidBody = rigidBodyHandle !== undefined ? worldProxy.getRigidBody(rigidBodyHandle) : undefined;
     const rbEvents = rigidBody && rigidBodyHandle !== undefined ? rigidBodyEvents.get(rigidBodyHandle) : undefined;
     const rigidBodyState = rigidBodyHandle !== undefined ? rigidBodyStates.get(rigidBodyHandle) : undefined;
     const source = {
@@ -787,11 +775,11 @@ const Physics = ({
     accumulator: 0
   });
   const step = useCallback(dt => {
-    const world = getWorld();
+    const world = worldProxy;
     /* Check if the timestep is supposed to be variable. We'll do this here
       once so we don't have to string-check every frame. */
 
-    const timeStepVariable = _timeStep === "vary";
+    const timeStepVariable = timeStep === "vary";
     /**
      * Fixed timeStep simulation progression
      * @see https://gafferongames.com/post/fix_your_timestep/
@@ -802,12 +790,12 @@ const Physics = ({
     const stepWorld = () => {
       // Trigger beforeStep callbacks
       beforeStepCallbacks.forEach(callback => {
-        callback.current(api);
+        callback.current(worldProxy);
       });
       world.step(eventQueue); // Trigger afterStep callbacks
 
       afterStepCallbacks.forEach(callback => {
-        callback.current(api);
+        callback.current(worldProxy);
       });
     };
 
@@ -815,15 +803,15 @@ const Physics = ({
       world.timestep = clampedDelta;
       stepWorld();
     } else {
-      world.timestep = _timeStep; // don't step time forwards if paused
+      world.timestep = timeStep; // don't step time forwards if paused
       // Increase accumulator
 
       steppingState.accumulator += clampedDelta;
 
-      while (steppingState.accumulator >= _timeStep) {
+      while (steppingState.accumulator >= timeStep) {
         // Set up previous state
         // needed for accurate interpolations if the world steps more than once
-        if (_interpolate) {
+        if (interpolate) {
           steppingState.previousState = {};
           world.forEachRigidBody(body => {
             steppingState.previousState[body.handle] = {
@@ -834,11 +822,11 @@ const Physics = ({
         }
 
         stepWorld();
-        steppingState.accumulator -= _timeStep;
+        steppingState.accumulator -= timeStep;
       }
     }
 
-    const interpolationAlpha = timeStepVariable || !_interpolate || _paused ? 1 : steppingState.accumulator / _timeStep; // Update meshes
+    const interpolationAlpha = timeStepVariable || !interpolate || paused ? 1 : steppingState.accumulator / timeStep; // Update meshes
 
     rigidBodyStates.forEach((state, handle) => {
       const rigidBody = world.getRigidBody(handle);
@@ -994,13 +982,13 @@ const Physics = ({
     world.forEachActiveRigidBody(() => {
       invalidate();
     });
-  }, [_paused, _timeStep, _interpolate]);
+  }, [paused, timeStep, interpolate]);
   const context = useMemo(() => ({
     rapier,
-    world: api,
+    world: worldProxy,
     physicsOptions: {
-      colliders: _colliders,
-      gravity: _gravity
+      colliders,
+      gravity
     },
     rigidBodyStates,
     colliderStates,
@@ -1008,22 +996,22 @@ const Physics = ({
     colliderEvents,
     beforeStepCallbacks,
     afterStepCallbacks,
-    isPaused: _paused,
-    isDebug: _debug,
+    isPaused: paused,
+    isDebug: debug,
     step
-  }), [_paused, step, _debug, _colliders, _gravity]);
+  }), [paused, step, debug, colliders, gravity]);
   const stepCallback = useCallback(delta => {
-    if (!_paused) {
+    if (!paused) {
       step(delta);
     }
-  }, [_paused, step]);
+  }, [paused, step]);
   return /*#__PURE__*/React.createElement(rapierContext.Provider, {
     value: context
   }, /*#__PURE__*/React.createElement(FrameStepper$1, {
     onStep: stepCallback,
-    type: _updateLoop,
+    type: updateLoop,
     updatePriority: updatePriority
-  }), _debug && /*#__PURE__*/React.createElement(Debug, null), children);
+  }), debug && /*#__PURE__*/React.createElement(Debug, null), children);
 };
 
 function _extends() {
@@ -1043,6 +1031,33 @@ function _extends() {
   return _extends.apply(this, arguments);
 }
 
+/**
+ * Initiate an instance and return a safe getter
+ */
+
+const useImperativeInstance = (createFn, destroyFn, dependencyList) => {
+  const ref = useRef();
+  const getInstance = useCallback(() => {
+    if (!ref.current) {
+      ref.current = createFn();
+    }
+
+    return ref.current;
+  }, dependencyList);
+  useEffect(() => {
+    // Save the destroy function and instance
+    const instance = getInstance();
+
+    const destroy = () => destroyFn(instance);
+
+    return () => {
+      destroy();
+      ref.current = undefined;
+    };
+  }, [getInstance]);
+  return getInstance;
+};
+
 /**
  * Takes an object resembling a Vector3 and returs a Three.Vector3
  * @category Math helpers
@@ -1142,7 +1157,9 @@ const AnyCollider = /*#__PURE__*/memo( /*#__PURE__*/forwardRef((props, forwarded
     colliderRef.current = collider;
     return collider;
   }, collider => {
-    world.removeCollider(collider);
+    if (world.getCollider(collider.handle)) {
+      world.removeCollider(collider, true);
+    }
   }, [...immutablePropArray, rigidBodyContext]);
   useEffect(() => {
     const collider = getInstance();
@@ -1478,7 +1495,9 @@ const RigidBody = /*#__PURE__*/memo( /*#__PURE__*/forwardRef((props, forwardedRe
     rigidBodyRef.current = rigidBody;
     return rigidBody;
   }, rigidBody => {
-    world.removeRigidBody(rigidBody);
+    if (world.getRigidBody(rigidBody.handle)) {
+      world.removeRigidBody(rigidBody);
+    }
   }, immutablePropArray); // Only provide a object state after the ref has been set
 
   useEffect(() => {
@@ -1644,15 +1663,17 @@ const useImpulseJoint = (body1, body2, params) => {
   const jointRef = useRef();
   useImperativeInstance(() => {
     if (body1.current && body2.current) {
-      const newJoint = world.createImpulseJoint(params, body1.current, body2.current);
-      jointRef.current = newJoint; // console.log(body1.current, body2.current, newJoint);
-
+      const newJoint = world.createImpulseJoint(params, body1.current, body2.current, true);
+      jointRef.current = newJoint;
       return newJoint;
     }
   }, joint => {
     if (joint) {
       jointRef.current = undefined;
-      world.removeImpulseJoint(joint);
+
+      if (world.getImpulseJoint(joint.handle)) {
+        world.removeImpulseJoint(joint, true);
+      }
     }
   }, []);
   return jointRef;

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@react-three/rapier",
-  "version": "0.16.0-canary.1",
+  "version": "1.0.0",
   "source": "src/index.ts",
   "main": "dist/react-three-rapier.cjs.js",
   "module": "dist/react-three-rapier.esm.js",
@@ -8,9 +8,7 @@
   "files": [
     "dist"
   ],
-  "scripts": {
-    "ts": "tsc -w"
-  },
+  "scripts": {},
   "devDependencies": {
     "@react-three/drei": "9.45.0",
     "@react-three/fiber": "8.9.1",

package/dist/declarations/src/utils/api.d.ts

@@ -1,17 +0,0 @@
-import { Collider, ColliderDesc, DebugRenderBuffers, ImpulseJoint, JointData, RigidBody, RigidBodyDesc, World } from "@dimforge/rapier3d-compat";
-import { Vector3 } from "three";
-export interface WorldApi {
-    raw(): World;
-    getCollider(handle: number): Collider | undefined;
-    getRigidBody(handle: number): RigidBody | undefined;
-    createRigidBody(desc: RigidBodyDesc): RigidBody;
-    createCollider(desc: ColliderDesc, parent?: RigidBody): Collider;
-    removeRigidBody(rigidBody: RigidBody): void;
-    removeCollider(collider: Collider, wakeUp?: boolean): void;
-    createImpulseJoint(params: JointData, rigidBodyA: RigidBody, rigidBodyB: RigidBody, wakeUp?: boolean): ImpulseJoint;
-    removeImpulseJoint(joint: ImpulseJoint, wakeUp?: boolean): void;
-    forEachCollider(callback: (collider: Collider) => void): void;
-    setGravity(gravity: Vector3): void;
-    debugRender(): DebugRenderBuffers;
-}
-export declare const createWorldApi: (getWorld: () => World) => WorldApi;