@react-three/rapier 1.0.0-canary.2 → 1.0.1

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

@@ -115,6 +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/react-three-rapier.cjs.dev.js

@@ -664,6 +664,14 @@ const createSingletonProxy = createInstance => {
       }
 
       return Reflect.get(instance, prop);
+    },
+
+    set(target, prop, value) {
+      if (!instance) {
+        instance = createInstance();
+      }
+
+      return Reflect.set(instance, prop, value);
     }
 
   };
@@ -718,17 +726,23 @@ 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
@@ -749,17 +763,22 @@ const Physics = ({
   const {
     proxy: worldProxy,
     reset: resetWorldProxy
-  } = useConst(() => createSingletonProxy(() => new rapier.World(vectorArrayToVector3(_gravity))));
+  } = useConst(() => createSingletonProxy(() => new rapier.World(vectorArrayToVector3(gravity))));
   React.useEffect(() => {
     return () => {
       worldProxy.free();
       resetWorldProxy();
     };
-  }, []); // Update gravity
+  }, []); // Update mutable props
 
   React.useEffect(() => {
-    worldProxy.gravity = vectorArrayToVector3(_gravity);
-  }, [_gravity]);
+    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;
 
@@ -793,39 +812,38 @@ const Physics = ({
     /* 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/
      */
 
-    const clampedDelta = three.MathUtils.clamp(dt, 0, 0.2);
+    const clampedDelta = three.MathUtils.clamp(dt, 0, 0.5);
 
-    const stepWorld = () => {
+    const stepWorld = delta => {
       // Trigger beforeStep callbacks
       beforeStepCallbacks.forEach(callback => {
-        callback.current(worldProxy);
+        callback.current(world);
       });
+      world.timestep = delta;
       world.step(eventQueue); // Trigger afterStep callbacks
 
       afterStepCallbacks.forEach(callback => {
-        callback.current(worldProxy);
+        callback.current(world);
       });
     };
 
     if (timeStepVariable) {
-      world.timestep = clampedDelta;
-      stepWorld();
+      stepWorld(clampedDelta);
     } else {
-      world.timestep = _timeStep; // don't step time forwards if paused
+      // 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] = {
@@ -835,12 +853,12 @@ const Physics = ({
           });
         }
 
-        stepWorld();
-        steppingState.accumulator -= _timeStep;
+        stepWorld(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);
@@ -996,13 +1014,13 @@ const Physics = ({
     world.forEachActiveRigidBody(() => {
       invalidate();
     });
-  }, [_paused, _timeStep, _interpolate]);
+  }, [paused, timeStep, interpolate, worldProxy]);
   const context = React.useMemo(() => ({
     rapier,
     world: worldProxy,
     physicsOptions: {
-      colliders: _colliders,
-      gravity: _gravity
+      colliders,
+      gravity
     },
     rigidBodyStates,
     colliderStates,
@@ -1010,22 +1028,22 @@ 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() {
@@ -1171,7 +1189,9 @@ const AnyCollider = /*#__PURE__*/React.memo( /*#__PURE__*/React.forwardRef((prop
     colliderRef.current = collider;
     return collider;
   }, collider => {
-    world.removeCollider(collider, true);
+    if (world.getCollider(collider.handle)) {
+      world.removeCollider(collider, true);
+    }
   }, [...immutablePropArray, rigidBodyContext]);
   React.useEffect(() => {
     const collider = getInstance();
@@ -1507,7 +1527,9 @@ 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(() => {
@@ -1674,14 +1696,16 @@ const useImpulseJoint = (body1, body2, params) => {
   useImperativeInstance(() => {
     if (body1.current && body2.current) {
       const newJoint = world.createImpulseJoint(params, body1.current, body2.current, true);
-      jointRef.current = newJoint; // console.log(body1.current, body2.current, newJoint);
-
+      jointRef.current = newJoint;
       return newJoint;
     }
   }, joint => {
     if (joint) {
       jointRef.current = undefined;
-      world.removeImpulseJoint(joint, true);
+
+      if (world.getImpulseJoint(joint.handle)) {
+        world.removeImpulseJoint(joint, true);
+      }
     }
   }, []);
   return jointRef;

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

@@ -664,6 +664,14 @@ const createSingletonProxy = createInstance => {
       }
 
       return Reflect.get(instance, prop);
+    },
+
+    set(target, prop, value) {
+      if (!instance) {
+        instance = createInstance();
+      }
+
+      return Reflect.set(instance, prop, value);
     }
 
   };
@@ -718,17 +726,23 @@ 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
@@ -749,17 +763,22 @@ const Physics = ({
   const {
     proxy: worldProxy,
     reset: resetWorldProxy
-  } = useConst(() => createSingletonProxy(() => new rapier.World(vectorArrayToVector3(_gravity))));
+  } = useConst(() => createSingletonProxy(() => new rapier.World(vectorArrayToVector3(gravity))));
   React.useEffect(() => {
     return () => {
       worldProxy.free();
       resetWorldProxy();
     };
-  }, []); // Update gravity
+  }, []); // Update mutable props
 
   React.useEffect(() => {
-    worldProxy.gravity = vectorArrayToVector3(_gravity);
-  }, [_gravity]);
+    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;
 
@@ -793,39 +812,38 @@ const Physics = ({
     /* 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/
      */
 
-    const clampedDelta = three.MathUtils.clamp(dt, 0, 0.2);
+    const clampedDelta = three.MathUtils.clamp(dt, 0, 0.5);
 
-    const stepWorld = () => {
+    const stepWorld = delta => {
       // Trigger beforeStep callbacks
       beforeStepCallbacks.forEach(callback => {
-        callback.current(worldProxy);
+        callback.current(world);
       });
+      world.timestep = delta;
       world.step(eventQueue); // Trigger afterStep callbacks
 
       afterStepCallbacks.forEach(callback => {
-        callback.current(worldProxy);
+        callback.current(world);
       });
     };
 
     if (timeStepVariable) {
-      world.timestep = clampedDelta;
-      stepWorld();
+      stepWorld(clampedDelta);
     } else {
-      world.timestep = _timeStep; // don't step time forwards if paused
+      // 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] = {
@@ -835,12 +853,12 @@ const Physics = ({
           });
         }
 
-        stepWorld();
-        steppingState.accumulator -= _timeStep;
+        stepWorld(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);
@@ -996,13 +1014,13 @@ const Physics = ({
     world.forEachActiveRigidBody(() => {
       invalidate();
     });
-  }, [_paused, _timeStep, _interpolate]);
+  }, [paused, timeStep, interpolate, worldProxy]);
   const context = React.useMemo(() => ({
     rapier,
     world: worldProxy,
     physicsOptions: {
-      colliders: _colliders,
-      gravity: _gravity
+      colliders,
+      gravity
     },
     rigidBodyStates,
     colliderStates,
@@ -1010,22 +1028,22 @@ 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() {
@@ -1171,7 +1189,9 @@ const AnyCollider = /*#__PURE__*/React.memo( /*#__PURE__*/React.forwardRef((prop
     colliderRef.current = collider;
     return collider;
   }, collider => {
-    world.removeCollider(collider, true);
+    if (world.getCollider(collider.handle)) {
+      world.removeCollider(collider, true);
+    }
   }, [...immutablePropArray, rigidBodyContext]);
   React.useEffect(() => {
     const collider = getInstance();
@@ -1507,7 +1527,9 @@ 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(() => {
@@ -1674,14 +1696,16 @@ const useImpulseJoint = (body1, body2, params) => {
   useImperativeInstance(() => {
     if (body1.current && body2.current) {
       const newJoint = world.createImpulseJoint(params, body1.current, body2.current, true);
-      jointRef.current = newJoint; // console.log(body1.current, body2.current, newJoint);
-
+      jointRef.current = newJoint;
       return newJoint;
     }
   }, joint => {
     if (joint) {
       jointRef.current = undefined;
-      world.removeImpulseJoint(joint, true);
+
+      if (world.getImpulseJoint(joint.handle)) {
+        world.removeImpulseJoint(joint, true);
+      }
     }
   }, []);
   return jointRef;

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

@@ -639,6 +639,14 @@ const createSingletonProxy = createInstance => {
       }
 
       return Reflect.get(instance, prop);
+    },
+
+    set(target, prop, value) {
+      if (!instance) {
+        instance = createInstance();
+      }
+
+      return Reflect.set(instance, prop, value);
     }
 
   };
@@ -693,17 +701,23 @@ 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
@@ -724,17 +738,22 @@ const Physics = ({
   const {
     proxy: worldProxy,
     reset: resetWorldProxy
-  } = useConst(() => createSingletonProxy(() => new rapier.World(vectorArrayToVector3(_gravity))));
+  } = useConst(() => createSingletonProxy(() => new rapier.World(vectorArrayToVector3(gravity))));
   useEffect(() => {
     return () => {
       worldProxy.free();
       resetWorldProxy();
     };
-  }, []); // Update gravity
+  }, []); // Update mutable props
 
   useEffect(() => {
-    worldProxy.gravity = vectorArrayToVector3(_gravity);
-  }, [_gravity]);
+    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;
 
@@ -768,39 +787,38 @@ const Physics = ({
     /* 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/
      */
 
-    const clampedDelta = MathUtils.clamp(dt, 0, 0.2);
+    const clampedDelta = MathUtils.clamp(dt, 0, 0.5);
 
-    const stepWorld = () => {
+    const stepWorld = delta => {
       // Trigger beforeStep callbacks
       beforeStepCallbacks.forEach(callback => {
-        callback.current(worldProxy);
+        callback.current(world);
       });
+      world.timestep = delta;
       world.step(eventQueue); // Trigger afterStep callbacks
 
       afterStepCallbacks.forEach(callback => {
-        callback.current(worldProxy);
+        callback.current(world);
       });
     };
 
     if (timeStepVariable) {
-      world.timestep = clampedDelta;
-      stepWorld();
+      stepWorld(clampedDelta);
     } else {
-      world.timestep = _timeStep; // don't step time forwards if paused
+      // 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] = {
@@ -810,12 +828,12 @@ const Physics = ({
           });
         }
 
-        stepWorld();
-        steppingState.accumulator -= _timeStep;
+        stepWorld(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);
@@ -971,13 +989,13 @@ const Physics = ({
     world.forEachActiveRigidBody(() => {
       invalidate();
     });
-  }, [_paused, _timeStep, _interpolate]);
+  }, [paused, timeStep, interpolate, worldProxy]);
   const context = useMemo(() => ({
     rapier,
     world: worldProxy,
     physicsOptions: {
-      colliders: _colliders,
-      gravity: _gravity
+      colliders,
+      gravity
     },
     rigidBodyStates,
     colliderStates,
@@ -985,22 +1003,22 @@ 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() {
@@ -1146,7 +1164,9 @@ const AnyCollider = /*#__PURE__*/memo( /*#__PURE__*/forwardRef((props, forwarded
     colliderRef.current = collider;
     return collider;
   }, collider => {
-    world.removeCollider(collider, true);
+    if (world.getCollider(collider.handle)) {
+      world.removeCollider(collider, true);
+    }
   }, [...immutablePropArray, rigidBodyContext]);
   useEffect(() => {
     const collider = getInstance();
@@ -1482,7 +1502,9 @@ 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(() => {
@@ -1649,14 +1671,16 @@ const useImpulseJoint = (body1, body2, params) => {
   useImperativeInstance(() => {
     if (body1.current && body2.current) {
       const newJoint = world.createImpulseJoint(params, body1.current, body2.current, true);
-      jointRef.current = newJoint; // console.log(body1.current, body2.current, newJoint);
-
+      jointRef.current = newJoint;
       return newJoint;
     }
   }, joint => {
     if (joint) {
       jointRef.current = undefined;
-      world.removeImpulseJoint(joint, true);
+
+      if (world.getImpulseJoint(joint.handle)) {
+        world.removeImpulseJoint(joint, true);
+      }
     }
   }, []);
   return jointRef;

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@react-three/rapier",
-  "version": "1.0.0-canary.2",
+  "version": "1.0.1",
   "source": "src/index.ts",
   "main": "dist/react-three-rapier.cjs.js",
   "module": "dist/react-three-rapier.esm.js",
@@ -17,11 +17,11 @@
     "@types/three": "0.139.0",
     "@vitejs/plugin-react": "^2.1.0",
     "@vitest/ui": "0.29.7",
-    "happy-dom": "7.5.5",
+    "happy-dom": "9.19.2",
     "react": "18.2.0",
     "react-dom": "18.2.0",
     "three": "0.146.0",
-    "vitest": "0.29.7"
+    "vitest": "0.31.1"
   },
   "peerDependencies": {
     "@react-three/fiber": ">=8.9.0",

package/readme.md

@@ -27,7 +27,7 @@ The goal of this library to is to provide a fast physics engine with minimal fri
 ```tsx
 import { Box, Torus } from "@react-three/drei";
 import { Canvas } from "@react-three/fiber";
-import { Physics, RigidBody, Debug, CuboidCollider } from "@react-three/rapier";
+import { Physics, RigidBody, CuboidCollider } from "@react-three/rapier";
 
 const App = () => {
   return (