From 83aee02540ceeb140f78cbacbf8c41e7344ea9a7 Mon Sep 17 00:00:00 2001
From: yhh <359807859@qq.com>
Date: Wed, 3 Dec 2025 16:24:08 +0800
Subject: [PATCH] =?UTF-8?q?chore:=20=E6=B7=BB=E5=8A=A0=E7=AC=AC=E4=B8=89?=
 =?UTF-8?q?=E6=96=B9=E4=BE=9D=E8=B5=96=E5=BA=93?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 thirdparty/rapier.js/.github/FUNDING.yml      |   12 +
 .../rapier.js/.github/workflows/main.yml      |  154 ++
 thirdparty/rapier.js/.gitignore               |   21 +
 thirdparty/rapier.js/.prettierignore          |    7 +
 thirdparty/rapier.js/.prettierrc              |    5 +
 thirdparty/rapier.js/CHANGELOG.md             |  937 ++++++++
 thirdparty/rapier.js/Cargo.lock               | 1711 ++++++++++++++
 thirdparty/rapier.js/Cargo.toml               |   23 +
 thirdparty/rapier.js/LICENSE                  |  201 ++
 thirdparty/rapier.js/README.md                |   82 +
 .../builds/prepare_builds/Cargo.toml          |    9 +
 .../rapier.js/builds/prepare_builds/README.md |   17 +
 .../prepare_builds/build_all_projects.sh      |   19 +
 .../prepare_builds/prepare_all_projects.sh    |   11 +
 .../builds/prepare_builds/src/main.rs         |  182 ++
 .../prepare_builds/templates/Cargo.toml.tera  |   60 +
 .../builds/prepare_builds/templates/LICENSE   |  201 ++
 .../prepare_builds/templates/README.md.tera   |   70 +
 .../templates/build_rust.sh.tera              |   15 +
 .../templates/build_typescript.sh.tera        |   13 +
 .../templates/package.json.tera               |   25 +
 .../prepare_builds/templates/tsconfig.json    |   13 +
 .../templates/tsconfig_typedoc.json           |   10 +
 .../templates/typedoc.json.tera               |   42 +
 thirdparty/rapier.js/package.json             |   12 +
 thirdparty/rapier.js/publish_all_canary.sh    |   19 +
 thirdparty/rapier.js/publish_all_prod.sh      |   19 +
 thirdparty/rapier.js/rapier-compat/README.md  |   16 +
 .../rapier.js/rapier-compat/build-rust.sh     |   50 +
 .../rapier.js/rapier-compat/fix_raw_file.sh   |   11 +
 thirdparty/rapier.js/rapier-compat/gen_src.sh |   58 +
 .../rapier.js/rapier-compat/package.json      |   59 +
 .../rapier.js/rapier-compat/rollup.config.js  |   85 +
 .../rapier.js/rapier-compat/src2d/init.ts     |   60 +
 .../rapier.js/rapier-compat/src2d/raw.ts      |    1 +
 .../rapier.js/rapier-compat/src3d/init.ts     |   12 +
 .../rapier.js/rapier-compat/src3d/raw.ts      |    1 +
 .../rapier-compat/tests/World2d.test.ts       |   23 +
 .../rapier-compat/tests/World3d.test.ts       |   23 +
 .../rapier-compat/tests/math2d.test.ts        |   15 +
 .../rapier-compat/tests/math3d.test.ts        |   17 +
 .../rapier-compat/tsconfig.common.json        |   15 +
 .../rapier.js/rapier-compat/tsconfig.json     |   10 +
 .../rapier-compat/tsconfig.pkg2d.json         |    8 +
 .../rapier-compat/tsconfig.pkg3d.json         |    8 +
 thirdparty/rapier.js/src.ts/coarena.ts        |   70 +
 .../src.ts/control/character_controller.ts    |  386 ++++
 thirdparty/rapier.js/src.ts/control/index.ts  |    6 +
 .../src.ts/control/pid_controller.ts          |  207 ++
 .../control/ray_cast_vehicle_controller.ts    |  481 ++++
 .../rapier.js/src.ts/dynamics/ccd_solver.ts   |   25 +
 .../dynamics/coefficient_combine_rule.ts      |   13 +
 .../src.ts/dynamics/impulse_joint.ts          |  681 ++++++
 .../src.ts/dynamics/impulse_joint_set.ts      |  165 ++
 thirdparty/rapier.js/src.ts/dynamics/index.ts |   10 +
 .../src.ts/dynamics/integration_parameters.ts |  126 ++
 .../src.ts/dynamics/island_manager.ts         |   37 +
 .../src.ts/dynamics/multibody_joint.ts        |  222 ++
 .../src.ts/dynamics/multibody_joint_set.ts    |  157 ++
 .../rapier.js/src.ts/dynamics/rigid_body.ts   | 1691 ++++++++++++++
 .../src.ts/dynamics/rigid_body_set.ts         |  238 ++
 thirdparty/rapier.js/src.ts/exports.ts        |   27 +
 .../rapier.js/src.ts/geometry/broad_phase.ts  |  520 +++++
 .../rapier.js/src.ts/geometry/collider.ts     | 1983 +++++++++++++++++
 .../rapier.js/src.ts/geometry/collider_set.ts |  213 ++
 .../rapier.js/src.ts/geometry/contact.ts      |   62 +
 .../rapier.js/src.ts/geometry/feature.ts      |   16 +
 thirdparty/rapier.js/src.ts/geometry/index.ts |   11 +
 .../src.ts/geometry/interaction_groups.ts     |   18 +
 .../rapier.js/src.ts/geometry/narrow_phase.ts |  203 ++
 thirdparty/rapier.js/src.ts/geometry/point.ts |   98 +
 thirdparty/rapier.js/src.ts/geometry/ray.ts   |  192 ++
 thirdparty/rapier.js/src.ts/geometry/shape.ts | 1558 +++++++++++++
 thirdparty/rapier.js/src.ts/geometry/toi.ts   |  105 +
 thirdparty/rapier.js/src.ts/init.ts           |    2 +
 thirdparty/rapier.js/src.ts/math.ts           |  263 +++
 .../src.ts/pipeline/debug_render_pipeline.ts  |   85 +
 .../rapier.js/src.ts/pipeline/event_queue.ts  |  158 ++
 thirdparty/rapier.js/src.ts/pipeline/index.ts |    7 +
 .../src.ts/pipeline/physics_hooks.ts          |   54 +
 .../src.ts/pipeline/physics_pipeline.ts       |   85 +
 .../src.ts/pipeline/query_pipeline.ts         |   57 +
 .../src.ts/pipeline/serialization_pipeline.ts |   84 +
 thirdparty/rapier.js/src.ts/pipeline/world.ts | 1312 +++++++++++
 thirdparty/rapier.js/src.ts/rapier.ts         |    3 +
 thirdparty/rapier.js/src.ts/raw.ts            |    1 +
 .../src/control/character_controller.rs       |  290 +++
 thirdparty/rapier.js/src/control/mod.rs       |   11 +
 .../rapier.js/src/control/pid_controller.rs   |  264 +++
 .../control/ray_cast_vehicle_controller.rs    |  336 +++
 .../rapier.js/src/dynamics/ccd_solver.rs      |   13 +
 .../rapier.js/src/dynamics/impulse_joint.rs   |  215 ++
 .../src/dynamics/impulse_joint_set.rs         |   92 +
 .../src/dynamics/integration_parameters.rs    |  101 +
 .../rapier.js/src/dynamics/island_manager.rs  |   31 +
 thirdparty/rapier.js/src/dynamics/joint.rs    |  314 +++
 thirdparty/rapier.js/src/dynamics/mod.rs      |   20 +
 .../rapier.js/src/dynamics/multibody_joint.rs |  196 ++
 .../src/dynamics/multibody_joint_set.rs       |   85 +
 .../rapier.js/src/dynamics/rigid_body.rs      |  753 +++++++
 .../rapier.js/src/dynamics/rigid_body_set.rs  |  237 ++
 .../rapier.js/src/geometry/broad_phase.rs     |  462 ++++
 thirdparty/rapier.js/src/geometry/collider.rs |  993 +++++++++
 .../rapier.js/src/geometry/collider_set.rs    |  293 +++
 thirdparty/rapier.js/src/geometry/contact.rs  |   31 +
 thirdparty/rapier.js/src/geometry/feature.rs  |   47 +
 thirdparty/rapier.js/src/geometry/mod.rs      |   49 +
 .../rapier.js/src/geometry/narrow_phase.rs    |  217 ++
 thirdparty/rapier.js/src/geometry/point.rs    |   53 +
 thirdparty/rapier.js/src/geometry/ray.rs      |   74 +
 thirdparty/rapier.js/src/geometry/shape.rs    |  527 +++++
 thirdparty/rapier.js/src/geometry/toi.rs      |   65 +
 thirdparty/rapier.js/src/lib.rs               |   32 +
 thirdparty/rapier.js/src/math.rs              |  266 +++
 .../src/pipeline/debug_render_pipeline.rs     |  152 ++
 .../rapier.js/src/pipeline/event_queue.rs     |  140 ++
 thirdparty/rapier.js/src/pipeline/mod.rs      |   11 +
 .../rapier.js/src/pipeline/physics_hooks.rs   |  217 ++
 .../src/pipeline/physics_pipeline.rs          |  170 ++
 .../src/pipeline/serialization_pipeline.rs    |  145 ++
 thirdparty/rapier.js/src/utils.rs             |   79 +
 thirdparty/rapier.js/testbed2d/.npmignore     |    3 +
 thirdparty/rapier.js/testbed2d/package.json   |   32 +
 thirdparty/rapier.js/testbed2d/publish.sh     |    5 +
 .../rapier.js/testbed2d/src/Graphics.ts       |  269 +++
 thirdparty/rapier.js/testbed2d/src/Gui.ts     |  113 +
 thirdparty/rapier.js/testbed2d/src/Testbed.ts |  189 ++
 .../src/demos/characterController.ts          |   89 +
 .../testbed2d/src/demos/collisionGroups.ts    |   79 +
 .../testbed2d/src/demos/convexPolygons.ts     |   68 +
 .../rapier.js/testbed2d/src/demos/cubes.ts    |   56 +
 .../testbed2d/src/demos/heightfield.ts        |   65 +
 .../rapier.js/testbed2d/src/demos/keva.ts     |   92 +
 .../testbed2d/src/demos/lockedRotations.ts    |   51 +
 .../testbed2d/src/demos/pidController.ts      |  100 +
 .../rapier.js/testbed2d/src/demos/polyline.ts |   64 +
 .../testbed2d/src/demos/revoluteJoints.ts     |   59 +
 .../rapier.js/testbed2d/src/demos/voxels.ts   |   90 +
 thirdparty/rapier.js/testbed2d/src/index.ts   |   30 +
 .../rapier.js/testbed2d/static/.htaccess      |    3 +
 .../rapier.js/testbed2d/static/index.html     |   18 +
 thirdparty/rapier.js/testbed2d/tsconfig.json  |   11 +
 .../rapier.js/testbed2d/webpack.config.js     |   55 +
 thirdparty/rapier.js/testbed3d/.npmignore     |    3 +
 thirdparty/rapier.js/testbed3d/package.json   |   32 +
 thirdparty/rapier.js/testbed3d/publish.sh     |    6 +
 .../rapier.js/testbed3d/src/Graphics.ts       |  576 +++++
 thirdparty/rapier.js/testbed3d/src/Gui.ts     |  167 ++
 thirdparty/rapier.js/testbed3d/src/Testbed.ts |  211 ++
 .../rapier.js/testbed3d/src/demos/ccd.ts      |   75 +
 .../src/demos/characterController.ts          |  106 +
 .../testbed3d/src/demos/collisionGroups.ts    |   73 +
 .../testbed3d/src/demos/convexPolyhedron.ts   |  111 +
 .../rapier.js/testbed3d/src/demos/damping.ts  |   42 +
 .../rapier.js/testbed3d/src/demos/fountain.ts |   78 +
 .../testbed3d/src/demos/glbToTrimesh.ts       |   68 +
 .../testbed3d/src/demos/glbtoConvexHull.ts    |   68 +
 .../testbed3d/src/demos/heightfield.ts        |  126 ++
 .../rapier.js/testbed3d/src/demos/joints.ts   |  292 +++
 .../rapier.js/testbed3d/src/demos/keva.ts     |  139 ++
 .../testbed3d/src/demos/lockedRotations.ts    |   58 +
 .../testbed3d/src/demos/pidController.ts      |  127 ++
 .../rapier.js/testbed3d/src/demos/platform.ts |  153 ++
 .../rapier.js/testbed3d/src/demos/pyramid.ts  |   51 +
 .../rapier.js/testbed3d/src/demos/trimesh.ts  |  143 ++
 .../rapier.js/testbed3d/src/demos/voxels.ts   |  130 ++
 thirdparty/rapier.js/testbed3d/src/index.ts   |   42 +
 .../rapier.js/testbed3d/static/.htaccess      |    3 +
 .../rapier.js/testbed3d/static/index.html     |   18 +
 .../static/suzanne_blender_monkey.glb         |  Bin 0 -> 60820 bytes
 thirdparty/rapier.js/testbed3d/tsconfig.json  |   11 +
 .../rapier.js/testbed3d/webpack.config.js     |   55 +
 172 files changed, 27480 insertions(+)
 create mode 100644 thirdparty/rapier.js/.github/FUNDING.yml
 create mode 100644 thirdparty/rapier.js/.github/workflows/main.yml
 create mode 100644 thirdparty/rapier.js/.gitignore
 create mode 100644 thirdparty/rapier.js/.prettierignore
 create mode 100644 thirdparty/rapier.js/.prettierrc
 create mode 100644 thirdparty/rapier.js/CHANGELOG.md
 create mode 100644 thirdparty/rapier.js/Cargo.lock
 create mode 100644 thirdparty/rapier.js/Cargo.toml
 create mode 100644 thirdparty/rapier.js/LICENSE
 create mode 100644 thirdparty/rapier.js/README.md
 create mode 100644 thirdparty/rapier.js/builds/prepare_builds/Cargo.toml
 create mode 100644 thirdparty/rapier.js/builds/prepare_builds/README.md
 create mode 100644 thirdparty/rapier.js/builds/prepare_builds/build_all_projects.sh
 create mode 100644 thirdparty/rapier.js/builds/prepare_builds/prepare_all_projects.sh
 create mode 100644 thirdparty/rapier.js/builds/prepare_builds/src/main.rs
 create mode 100644 thirdparty/rapier.js/builds/prepare_builds/templates/Cargo.toml.tera
 create mode 100644 thirdparty/rapier.js/builds/prepare_builds/templates/LICENSE
 create mode 100644 thirdparty/rapier.js/builds/prepare_builds/templates/README.md.tera
 create mode 100644 thirdparty/rapier.js/builds/prepare_builds/templates/build_rust.sh.tera
 create mode 100644 thirdparty/rapier.js/builds/prepare_builds/templates/build_typescript.sh.tera
 create mode 100644 thirdparty/rapier.js/builds/prepare_builds/templates/package.json.tera
 create mode 100644 thirdparty/rapier.js/builds/prepare_builds/templates/tsconfig.json
 create mode 100644 thirdparty/rapier.js/builds/prepare_builds/templates/tsconfig_typedoc.json
 create mode 100644 thirdparty/rapier.js/builds/prepare_builds/templates/typedoc.json.tera
 create mode 100644 thirdparty/rapier.js/package.json
 create mode 100644 thirdparty/rapier.js/publish_all_canary.sh
 create mode 100644 thirdparty/rapier.js/publish_all_prod.sh
 create mode 100644 thirdparty/rapier.js/rapier-compat/README.md
 create mode 100644 thirdparty/rapier.js/rapier-compat/build-rust.sh
 create mode 100644 thirdparty/rapier.js/rapier-compat/fix_raw_file.sh
 create mode 100644 thirdparty/rapier.js/rapier-compat/gen_src.sh
 create mode 100644 thirdparty/rapier.js/rapier-compat/package.json
 create mode 100644 thirdparty/rapier.js/rapier-compat/rollup.config.js
 create mode 100644 thirdparty/rapier.js/rapier-compat/src2d/init.ts
 create mode 100644 thirdparty/rapier.js/rapier-compat/src2d/raw.ts
 create mode 100644 thirdparty/rapier.js/rapier-compat/src3d/init.ts
 create mode 100644 thirdparty/rapier.js/rapier-compat/src3d/raw.ts
 create mode 100644 thirdparty/rapier.js/rapier-compat/tests/World2d.test.ts
 create mode 100644 thirdparty/rapier.js/rapier-compat/tests/World3d.test.ts
 create mode 100644 thirdparty/rapier.js/rapier-compat/tests/math2d.test.ts
 create mode 100644 thirdparty/rapier.js/rapier-compat/tests/math3d.test.ts
 create mode 100644 thirdparty/rapier.js/rapier-compat/tsconfig.common.json
 create mode 100644 thirdparty/rapier.js/rapier-compat/tsconfig.json
 create mode 100644 thirdparty/rapier.js/rapier-compat/tsconfig.pkg2d.json
 create mode 100644 thirdparty/rapier.js/rapier-compat/tsconfig.pkg3d.json
 create mode 100644 thirdparty/rapier.js/src.ts/coarena.ts
 create mode 100644 thirdparty/rapier.js/src.ts/control/character_controller.ts
 create mode 100644 thirdparty/rapier.js/src.ts/control/index.ts
 create mode 100644 thirdparty/rapier.js/src.ts/control/pid_controller.ts
 create mode 100644 thirdparty/rapier.js/src.ts/control/ray_cast_vehicle_controller.ts
 create mode 100644 thirdparty/rapier.js/src.ts/dynamics/ccd_solver.ts
 create mode 100644 thirdparty/rapier.js/src.ts/dynamics/coefficient_combine_rule.ts
 create mode 100644 thirdparty/rapier.js/src.ts/dynamics/impulse_joint.ts
 create mode 100644 thirdparty/rapier.js/src.ts/dynamics/impulse_joint_set.ts
 create mode 100644 thirdparty/rapier.js/src.ts/dynamics/index.ts
 create mode 100644 thirdparty/rapier.js/src.ts/dynamics/integration_parameters.ts
 create mode 100644 thirdparty/rapier.js/src.ts/dynamics/island_manager.ts
 create mode 100644 thirdparty/rapier.js/src.ts/dynamics/multibody_joint.ts
 create mode 100644 thirdparty/rapier.js/src.ts/dynamics/multibody_joint_set.ts
 create mode 100644 thirdparty/rapier.js/src.ts/dynamics/rigid_body.ts
 create mode 100644 thirdparty/rapier.js/src.ts/dynamics/rigid_body_set.ts
 create mode 100644 thirdparty/rapier.js/src.ts/exports.ts
 create mode 100644 thirdparty/rapier.js/src.ts/geometry/broad_phase.ts
 create mode 100644 thirdparty/rapier.js/src.ts/geometry/collider.ts
 create mode 100644 thirdparty/rapier.js/src.ts/geometry/collider_set.ts
 create mode 100644 thirdparty/rapier.js/src.ts/geometry/contact.ts
 create mode 100644 thirdparty/rapier.js/src.ts/geometry/feature.ts
 create mode 100644 thirdparty/rapier.js/src.ts/geometry/index.ts
 create mode 100644 thirdparty/rapier.js/src.ts/geometry/interaction_groups.ts
 create mode 100644 thirdparty/rapier.js/src.ts/geometry/narrow_phase.ts
 create mode 100644 thirdparty/rapier.js/src.ts/geometry/point.ts
 create mode 100644 thirdparty/rapier.js/src.ts/geometry/ray.ts
 create mode 100644 thirdparty/rapier.js/src.ts/geometry/shape.ts
 create mode 100644 thirdparty/rapier.js/src.ts/geometry/toi.ts
 create mode 100644 thirdparty/rapier.js/src.ts/init.ts
 create mode 100644 thirdparty/rapier.js/src.ts/math.ts
 create mode 100644 thirdparty/rapier.js/src.ts/pipeline/debug_render_pipeline.ts
 create mode 100644 thirdparty/rapier.js/src.ts/pipeline/event_queue.ts
 create mode 100644 thirdparty/rapier.js/src.ts/pipeline/index.ts
 create mode 100644 thirdparty/rapier.js/src.ts/pipeline/physics_hooks.ts
 create mode 100644 thirdparty/rapier.js/src.ts/pipeline/physics_pipeline.ts
 create mode 100644 thirdparty/rapier.js/src.ts/pipeline/query_pipeline.ts
 create mode 100644 thirdparty/rapier.js/src.ts/pipeline/serialization_pipeline.ts
 create mode 100644 thirdparty/rapier.js/src.ts/pipeline/world.ts
 create mode 100644 thirdparty/rapier.js/src.ts/rapier.ts
 create mode 100644 thirdparty/rapier.js/src.ts/raw.ts
 create mode 100644 thirdparty/rapier.js/src/control/character_controller.rs
 create mode 100644 thirdparty/rapier.js/src/control/mod.rs
 create mode 100644 thirdparty/rapier.js/src/control/pid_controller.rs
 create mode 100644 thirdparty/rapier.js/src/control/ray_cast_vehicle_controller.rs
 create mode 100644 thirdparty/rapier.js/src/dynamics/ccd_solver.rs
 create mode 100644 thirdparty/rapier.js/src/dynamics/impulse_joint.rs
 create mode 100644 thirdparty/rapier.js/src/dynamics/impulse_joint_set.rs
 create mode 100644 thirdparty/rapier.js/src/dynamics/integration_parameters.rs
 create mode 100644 thirdparty/rapier.js/src/dynamics/island_manager.rs
 create mode 100644 thirdparty/rapier.js/src/dynamics/joint.rs
 create mode 100644 thirdparty/rapier.js/src/dynamics/mod.rs
 create mode 100644 thirdparty/rapier.js/src/dynamics/multibody_joint.rs
 create mode 100644 thirdparty/rapier.js/src/dynamics/multibody_joint_set.rs
 create mode 100644 thirdparty/rapier.js/src/dynamics/rigid_body.rs
 create mode 100644 thirdparty/rapier.js/src/dynamics/rigid_body_set.rs
 create mode 100644 thirdparty/rapier.js/src/geometry/broad_phase.rs
 create mode 100644 thirdparty/rapier.js/src/geometry/collider.rs
 create mode 100644 thirdparty/rapier.js/src/geometry/collider_set.rs
 create mode 100644 thirdparty/rapier.js/src/geometry/contact.rs
 create mode 100644 thirdparty/rapier.js/src/geometry/feature.rs
 create mode 100644 thirdparty/rapier.js/src/geometry/mod.rs
 create mode 100644 thirdparty/rapier.js/src/geometry/narrow_phase.rs
 create mode 100644 thirdparty/rapier.js/src/geometry/point.rs
 create mode 100644 thirdparty/rapier.js/src/geometry/ray.rs
 create mode 100644 thirdparty/rapier.js/src/geometry/shape.rs
 create mode 100644 thirdparty/rapier.js/src/geometry/toi.rs
 create mode 100644 thirdparty/rapier.js/src/lib.rs
 create mode 100644 thirdparty/rapier.js/src/math.rs
 create mode 100644 thirdparty/rapier.js/src/pipeline/debug_render_pipeline.rs
 create mode 100644 thirdparty/rapier.js/src/pipeline/event_queue.rs
 create mode 100644 thirdparty/rapier.js/src/pipeline/mod.rs
 create mode 100644 thirdparty/rapier.js/src/pipeline/physics_hooks.rs
 create mode 100644 thirdparty/rapier.js/src/pipeline/physics_pipeline.rs
 create mode 100644 thirdparty/rapier.js/src/pipeline/serialization_pipeline.rs
 create mode 100644 thirdparty/rapier.js/src/utils.rs
 create mode 100644 thirdparty/rapier.js/testbed2d/.npmignore
 create mode 100644 thirdparty/rapier.js/testbed2d/package.json
 create mode 100644 thirdparty/rapier.js/testbed2d/publish.sh
 create mode 100644 thirdparty/rapier.js/testbed2d/src/Graphics.ts
 create mode 100644 thirdparty/rapier.js/testbed2d/src/Gui.ts
 create mode 100644 thirdparty/rapier.js/testbed2d/src/Testbed.ts
 create mode 100644 thirdparty/rapier.js/testbed2d/src/demos/characterController.ts
 create mode 100644 thirdparty/rapier.js/testbed2d/src/demos/collisionGroups.ts
 create mode 100644 thirdparty/rapier.js/testbed2d/src/demos/convexPolygons.ts
 create mode 100644 thirdparty/rapier.js/testbed2d/src/demos/cubes.ts
 create mode 100644 thirdparty/rapier.js/testbed2d/src/demos/heightfield.ts
 create mode 100644 thirdparty/rapier.js/testbed2d/src/demos/keva.ts
 create mode 100644 thirdparty/rapier.js/testbed2d/src/demos/lockedRotations.ts
 create mode 100644 thirdparty/rapier.js/testbed2d/src/demos/pidController.ts
 create mode 100644 thirdparty/rapier.js/testbed2d/src/demos/polyline.ts
 create mode 100644 thirdparty/rapier.js/testbed2d/src/demos/revoluteJoints.ts
 create mode 100644 thirdparty/rapier.js/testbed2d/src/demos/voxels.ts
 create mode 100644 thirdparty/rapier.js/testbed2d/src/index.ts
 create mode 100644 thirdparty/rapier.js/testbed2d/static/.htaccess
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 create mode 100644 thirdparty/rapier.js/testbed3d/package.json
 create mode 100644 thirdparty/rapier.js/testbed3d/publish.sh
 create mode 100644 thirdparty/rapier.js/testbed3d/src/Graphics.ts
 create mode 100644 thirdparty/rapier.js/testbed3d/src/Gui.ts
 create mode 100644 thirdparty/rapier.js/testbed3d/src/Testbed.ts
 create mode 100644 thirdparty/rapier.js/testbed3d/src/demos/ccd.ts
 create mode 100644 thirdparty/rapier.js/testbed3d/src/demos/characterController.ts
 create mode 100644 thirdparty/rapier.js/testbed3d/src/demos/collisionGroups.ts
 create mode 100644 thirdparty/rapier.js/testbed3d/src/demos/convexPolyhedron.ts
 create mode 100644 thirdparty/rapier.js/testbed3d/src/demos/damping.ts
 create mode 100644 thirdparty/rapier.js/testbed3d/src/demos/fountain.ts
 create mode 100644 thirdparty/rapier.js/testbed3d/src/demos/glbToTrimesh.ts
 create mode 100644 thirdparty/rapier.js/testbed3d/src/demos/glbtoConvexHull.ts
 create mode 100644 thirdparty/rapier.js/testbed3d/src/demos/heightfield.ts
 create mode 100644 thirdparty/rapier.js/testbed3d/src/demos/joints.ts
 create mode 100644 thirdparty/rapier.js/testbed3d/src/demos/keva.ts
 create mode 100644 thirdparty/rapier.js/testbed3d/src/demos/lockedRotations.ts
 create mode 100644 thirdparty/rapier.js/testbed3d/src/demos/pidController.ts
 create mode 100644 thirdparty/rapier.js/testbed3d/src/demos/platform.ts
 create mode 100644 thirdparty/rapier.js/testbed3d/src/demos/pyramid.ts
 create mode 100644 thirdparty/rapier.js/testbed3d/src/demos/trimesh.ts
 create mode 100644 thirdparty/rapier.js/testbed3d/src/demos/voxels.ts
 create mode 100644 thirdparty/rapier.js/testbed3d/src/index.ts
 create mode 100644 thirdparty/rapier.js/testbed3d/static/.htaccess
 create mode 100644 thirdparty/rapier.js/testbed3d/static/index.html
 create mode 100644 thirdparty/rapier.js/testbed3d/static/suzanne_blender_monkey.glb
 create mode 100644 thirdparty/rapier.js/testbed3d/tsconfig.json
 create mode 100644 thirdparty/rapier.js/testbed3d/webpack.config.js

diff --git a/thirdparty/rapier.js/.github/FUNDING.yml b/thirdparty/rapier.js/.github/FUNDING.yml
new file mode 100644
index 00000000..97039335
--- /dev/null
+++ b/thirdparty/rapier.js/.github/FUNDING.yml
@@ -0,0 +1,12 @@
+# These are supported funding model platforms
+
+github: ["dimforge"] # Replace with up to 4 GitHub Sponsors-enabled usernames e.g., [user1, user2]
+patreon: # Replace with a single Patreon username
+open_collective: # Replace with a single Open Collective username
+ko_fi: # Replace with a single Ko-fi username
+tidelift: # Replace with a single Tidelift platform-name/package-name e.g., npm/babel
+community_bridge: # Replace with a single Community Bridge project-name e.g., cloud-foundry
+liberapay: # Replace with a single Liberapay username
+issuehunt: # Replace with a single IssueHunt username
+otechie: # Replace with a single Otechie username
+custom: # Replace with up to 4 custom sponsorship URLs e.g., ['link1', 'link2']
diff --git a/thirdparty/rapier.js/.github/workflows/main.yml b/thirdparty/rapier.js/.github/workflows/main.yml
new file mode 100644
index 00000000..c7977f5e
--- /dev/null
+++ b/thirdparty/rapier.js/.github/workflows/main.yml
@@ -0,0 +1,154 @@
+name: main
+
+on:
+    push:
+        branches: [master]
+    pull_request:
+        branches: [master]
+    workflow_dispatch:
+
+env:
+    CARGO_TERM_COLOR: always
+
+jobs:
+    check-fmt:
+        runs-on: ubuntu-latest
+        steps:
+            - uses: actions/checkout@v4
+            - uses: actions/setup-node@v4
+              with:
+                  node-version: "22.x"
+            - run: npm ci
+            - name: Check formatting
+              run: npm run fmt -- --check
+            - name: Check Rust formatting
+              run: cargo fmt -- --check
+    build:
+        strategy:
+            matrix:
+                os: [ubuntu-latest, macos-latest]
+        runs-on: ${{ matrix.os }}
+        env:
+            RUSTFLAGS: -D warnings
+        steps:
+            - uses: actions/checkout@v4
+            - uses: actions/cache@v3
+              with:
+                  path: |
+                      ~/.cargo/bin/
+                      ~/.cargo/registry/index/
+                      ~/.cargo/registry/cache/
+                      ~/.cargo/git/db/
+                      target/
+                  key: ${{ runner.os }}-cargo-${{ hashFiles('**/Cargo.lock') }}
+            - run: npm ci;
+            - name: Prepare no-compat builds
+              run: |
+                  ./builds/prepare_builds/prepare_all_projects.sh
+            - name: Build all no-compat projects
+              run: |
+                  ./builds/prepare_builds/build_all_projects.sh
+            # Install dependencies to check simd for builds
+            - name: Install wabt
+              run: |
+                  sudo apt install wabt;
+              if: matrix.os == 'ubuntu-latest'
+            - name: Install wabt
+              run: |
+                  brew install wabt;
+              if: matrix.os == 'macos-latest'
+            # Check simd for rust builds
+            - name: Check 2d simd rust build
+              run: |
+                  if ! wasm-objdump -d builds/rapier2d-simd/pkg/rapier_wasm2d_bg.wasm | grep :\\sfd ; then
+                    >&2 echo "ERROR: 2d simd compat build does not include simd opcode prefix." && exit 1
+                  fi
+            - name: Check 3d simd compat build
+              run: |
+                  if ! wasm-objdump -d builds/rapier3d-simd/pkg/rapier_wasm3d_bg.wasm | grep :\\sfd ; then
+                    >&2 echo "ERROR: 3d simd compat build does not include simd opcode prefix." && exit 1
+                  fi
+            - uses: actions/upload-artifact@v4
+              with:
+                  name: pkg no-compat ${{ matrix.os }}
+                  path: |
+                      builds/*/pkg
+                  overwrite: true
+    build-compat:
+        strategy:
+            matrix:
+                os: [ubuntu-latest, macos-latest]
+        runs-on: ${{ matrix.os }}
+        env:
+            RUSTFLAGS: -D warnings
+        steps:
+            - uses: actions/checkout@v4
+            - uses: actions/cache@v3
+              with:
+                  path: |
+                      ~/.cargo/bin/
+                      ~/.cargo/registry/index/
+                      ~/.cargo/registry/cache/
+                      ~/.cargo/git/db/
+                      target/
+                  key: ${{ runner.os }}-cargo-${{ hashFiles('**/Cargo.lock') }}
+            - run: npm ci;
+            - name: Prepare compat builds
+              run: |
+                  ./builds/prepare_builds/prepare_all_projects.sh
+            - name: Build rapier-compat
+              run: |
+                  cd rapier-compat;
+                  npm ci;
+                  npm run build;
+                  npm run test;
+            # Install dependencies to check simd for builds
+            - name: Install wabt
+              run: |
+                  sudo apt install wabt;
+              if: matrix.os == 'ubuntu-latest'
+            - name: Install wabt
+              run: |
+                  brew install wabt;
+              if: matrix.os == 'macos-latest'
+            # Check simd for compat builds
+            - name: Check 2d simd compat build
+              run: |
+                  if ! wasm-objdump -d rapier-compat/builds/2d-simd/pkg/rapier_wasm2d_bg.wasm | grep :\\sfd ; then
+                    >&2 echo "ERROR: 2d simd compat build does not include simd opcode prefix." && exit 1;
+                  fi
+            - name: Check 3d simd compat build
+              run: |
+                  if ! wasm-objdump -d rapier-compat/builds/3d-simd/pkg/rapier_wasm3d_bg.wasm | grep :\\sfd ; then
+                    >&2 echo "ERROR: 3d simd compat build does not include simd opcode prefix." && exit 1;
+                  fi
+            # Upload
+            - uses: actions/upload-artifact@v4
+              with:
+                  name: pkg compat ${{ matrix.os }}
+                  path: |
+                      rapier-compat/builds/*/pkg
+                  overwrite: true
+    publish:
+        runs-on: ubuntu-latest
+        needs: [build, build-compat]
+        if: github.ref == 'refs/heads/master'
+        steps:
+            - uses: actions/checkout@v4
+            - uses: actions/download-artifact@v4
+              with:
+                  name: pkg no-compat ubuntu-latest
+                  path: builds
+            - uses: actions/download-artifact@v4
+              with:
+                  name: pkg compat ubuntu-latest
+                  path: rapier-compat/builds
+            - uses: actions/setup-node@v4
+              with:
+                  node-version: "22.x"
+                  registry-url: "https://registry.npmjs.org"
+            - name: Publish projects
+              run: |
+                  ./publish_all_canary.sh
+              env:
+                  NODE_AUTH_TOKEN: ${{ secrets.NPM_TOKEN }}
diff --git a/thirdparty/rapier.js/.gitignore b/thirdparty/rapier.js/.gitignore
new file mode 100644
index 00000000..b6a5a6f5
--- /dev/null
+++ b/thirdparty/rapier.js/.gitignore
@@ -0,0 +1,21 @@
+rapier2d/compat
+rapier3d/compat
+**/*.rs.bk
+node_modules
+target
+.idea
+.DS_Store
+dist
+pkg
+gen2d/
+gen3d/
+docs
+*.swp
+*.d.ts
+
+# Made by the prepare_builds crate
+builds/*
+!builds/prepare_builds
+
+# compat generated builds
+rapier-compat/builds/
\ No newline at end of file
diff --git a/thirdparty/rapier.js/.prettierignore b/thirdparty/rapier.js/.prettierignore
new file mode 100644
index 00000000..24ed3cdd
--- /dev/null
+++ b/thirdparty/rapier.js/.prettierignore
@@ -0,0 +1,7 @@
+pkg
+gen2d
+gen3d
+docs
+target
+**/CHANGELOG.md
+**/README.md
\ No newline at end of file
diff --git a/thirdparty/rapier.js/.prettierrc b/thirdparty/rapier.js/.prettierrc
new file mode 100644
index 00000000..5a3e1430
--- /dev/null
+++ b/thirdparty/rapier.js/.prettierrc
@@ -0,0 +1,5 @@
+{
+    "tabWidth": 4,
+    "bracketSpacing": false,
+    "trailingComma": "all"
+}
diff --git a/thirdparty/rapier.js/CHANGELOG.md b/thirdparty/rapier.js/CHANGELOG.md
new file mode 100644
index 00000000..413325bf
--- /dev/null
+++ b/thirdparty/rapier.js/CHANGELOG.md
@@ -0,0 +1,937 @@
+## 0.19.3 (05 Nov. 2025)
+
+- Significantly improve performances of `combineVoxelStates`.
+
+### 0.19.2 (17 Oct. 2025)
+
+- Fix bug where kinematic bodies would not wake up when setting its velocity.
+- Fix bug where slow-moving kinematic bodies would fall asleep.
+- Fix point-projection on voxels shapes.
+
+### 0.19.1 (03 Oct. 2025)
+
+### Modified
+
+- Update to Rapier 0.30.0. The only change is a [switch to a sparse storage](https://github.com/dimforge/parry/pull/380)
+  for the Voxels shapes. This allows support for orders of magnitudes larger maps without reaching the 4GB WASM memory
+  limit.
+
+### 0.19.0 (05 Sept. 2025)
+
+### Modified
+
+- Update to Rapier 0.29.0 which includes performance improvements for scenes involving a lot of contact constraints.
+  See https://github.com/dimforge/rapier/pull/876 for details.
+- Renamed the `RigidBody.invPrincipalInertiaSqrt` and `.effectiveWorldInvInertiaSqrt` methods to
+  `RigidBody.invPrincipalInertia` and `.effectiveWorldInvInertia` (removed the `Sqrt` suffix). These methods will now
+  return the actual inverse angular inertia matrix rather than its square root.
+- Removed methods related to the legacy PGS solver: `World.numAdditionalFrictionIterations`,
+  `switchToStandardPgsSolver`, `switchToSmallStepsPgsSolver`, `switchToSmallStepsPgsSolverWithoutWarmstart`.
+
+### 0.18.2 (13 August 2025)
+
+### Fixed
+
+- Fix rollup configuration adding `types: "./rapier.d.ts"` to the export config.
+
+### 0.18.1 (8 August 2025)
+
+### Modified
+
+- Update to Rapier 0.28.0 which includes performance improvements when CCD is active and when
+  the user applies modification to a collider or rigid-body.
+
+### Fix
+
+- Another attempt to fix bundlerless module import with rapier-compat.
+
+### 0.18.0 (24 July 2025)
+
+### Added
+
+- Add `World.timing*` functions to access the internal performances measurements if the internal
+  profiler is enabled with `World.profilerEnabled = true`.
+- Add `World.maxCcdSubsteps` to get/set the max number of CCD substeps run by the engine.
+
+### Fix
+
+- Fixed crash that would happen when removing colliders in a particular order (e.g. in the same order
+  as their insertion).
+
+### 0.18.0-beta.0 (12 July 2025)
+
+#### Modified
+
+- Update to Rapier 0.27.0-beta.1 which includes a fully reworked broad-phase tha supports scene queries.
+  This implies a performance gain on large scenes by avoiding the need to re-build the underlying acceleration
+  structure at each frame.
+- Un-deprecate methods for reading shape properties (for example `collider.radius()`). It turned out that these
+  methods are more convenient as they are guaranteed to always be in sync with rapier’s state on wasm.
+- Add `collider.translationWrtParent()` and `collider.rotationWrtParent()` to get the collider’s translation/rotation
+  relative to its parent rigid-body.
+
+#### Fix
+
+- rapier-compat top level javascript files extensions have been changed from `.cjs.js` and `.es.js` to `.cjs` and `mjs`
+  respectively. This results in better compatibility with NPM.
+
+### 0.17.3 (30 May 2025)
+
+#### Fix
+
+- The published package for 0.17.2 had a broken package.json. It is fixed on this release.
+
+### 0.17.2 (30 May 2025)
+
+#### Added
+
+- Added the function `RAPIER.reserveMemory` to instruct the internal allocator to pre-allocate more memory in preparation
+  for future operations. This typically called only once after initializing the WASM module.
+
+### 0.17.1 (23 May 2025)
+
+#### Added
+
+- Added optional arguments to `World.debugRender(filterFlags, filterPredicate)` to prevent some colliders from being
+  rendered.
+- Added `Collider.combineVoxelStates` to ensure two adjacent voxels colliders don’t suffer from the internal edges
+  problem, and `Collider.propagateVoxelChange` to maintain that coupling after modifications with `.setVoxel`.
+
+### 0.17.0 (16 May 2025)
+
+#### Fixed
+
+- Fix sensor events not triggering when hitting a voxels collider.
+
+#### Added
+
+- Added support for voxels colliders attached to dynamic rigid-bodies.
+- Added force calculation between colliding voxels/voxels and voxels/compound shapes.
+
+### 0.16.2 (5 May 2025)
+
+#### Fixed
+
+- Fixed infinite loop in `collider.setVoxel`.
+
+### 0.16.1 (2 May 2025)
+
+#### Added
+
+- Added `Collider.clearShapeCache` to release the reference to the JS shape stored in the collider, oor too force its
+  recomputation the next time the collider shape is accessed.
+- Added support for shape-casting involving Voxels colliders.
+- Added support for CCD involving Voxels colliders.
+
+### 0.16.0 (24 April 2025)
+
+#### Added
+
+- Added `ColliderDesc.voxels` to create a collider with a shape optimized for voxels.
+- Added `Collider.setVoxel` for adding or removing a voxel from a collider with a voxel shape.
+- Added the `Voxels` shape class.
+
+The support or voxels is still experimental. In particular the following features will currently **not** work on
+colliders with voxel shapes:
+
+- Voxels colliders attached to dynamic rigid-bodies will not run the automatic mass/angular inertia calculation.
+- Shape-casting on voxel shapes/colliders.
+- Collision-detection between two-voxels colliders, or a voxels collider and a mesh, polyline, or heightfield.
+
+See [parry#336](https://github.com/dimforge/parry/pull/336) for additional information.
+
+### 0.15.1 (10 April 2025)
+
+#### Added
+
+- Added `RigidBody.velocityAtPoint` function to retrieve the velocity of a given world-space point on a rigid-body.
+
+#### Modified
+
+- Update to Rapier 0.25. The main notable change is that the `TriMeshFlags.FIX_INTERNAL_EDGES` flag will no longer
+  imply that the `TriMeshFlags.ORIENTED` flag is set, avoiding edge-cases where enabling `FIX_INTERNAL_EDGES`
+  results in unexpected collisions between open meshes and balls.
+
+#### Fixed
+
+- Fixed `*-simd-compat` builds not actually emitting SIMD instructions.
+
+### 0.15.0 (06 March 2025)
+
+#### Added
+
+- Added `PidController`, `World.createPidController`, `World.removePidController` to create a Position-Integral-Derivative
+  controller; a building block for building velocity-based dynamic character controllers.
+
+#### Modified
+
+- Update to Rapier 0.24.
+- Package tree shaking has been disabled to avoid a crash on certain build configuration (#289).
+- Multiple packages with different feature sets are now released, and their build process has been automated (#309)
+  - Released packages are:
+    - rapier2d
+    - rapier2d-compat
+    - rapier2d-simd
+    - rapier2d-simd-compat
+    - rapier2d-deterministic
+    - rapier2d-deterministic-compat
+    - rapier3d
+    - rapier3d-compat
+    - rapier2d
+    - rapier2d-compat
+    - rapier3d-simd
+    - rapier3d-simd-compat
+    - rapier3d-deterministic
+    - rapier3d-deterministic-compat
+  - :warning: To this occasion, existing packages `rapier2d` and `rapier3d` are now built without `enhanced-determinism` feature enabled,
+    so if you rely on that feature, you should migrate to the new `-deterministic` flavor.
+
+
+### 0.14.0 (20 July 2024)
+
+#### Modified
+
+- Update from the rust library of rapier 0.19 to 0.22, see [rapier's changelog](https://github.com/dimforge/rapier/blob/master/CHANGELOG.md#v0210-23-june-2024) for more context.
+
+#### Added
+
+- Added `RigidBody.userForce` function to retrieve the constant force(s) the user added to a rigid-body
+- Added `RigidBody.userTorque` function to retrieve the constant torque(s) the user added to a rigid-body
+
+### 0.13.1 (2024-05-08)
+
+#### Fixed
+
+- Fix regression that could cause missed contact between a ball and another shape type.
+
+### 0.13.0 (2024-05-05)
+
+Several stability improvements are added as part of this release.
+See [rapier#625](https://github.com/dimforge/rapier/pull/625) for overviews of the most important improvements.
+
+#### Modified
+
+- The `castShape` and `castCollider` functions have been modified to add a `targetDistance` parameter. This parameter
+  indicates the distance below which a hit is detected.
+- Rename `RayIntersection.toi` to `.timeOfImpact` for better clarity.
+- Rename `RayColliderIntersection.toi` to `.timeOfImpact` for better clarity.
+- Rename `RayColliderToi` to `RayColliderHit`.
+- Rename `RayColliderHit.toi` to `.timeOfImpact` for better clarity.
+- Rename `ShapeTOI` to `ShapeCastHit`.
+- Rename `ShapeColliderTOI` to `ColliderShapeCastHit`.
+- Rename `ShapeCastHit.toi` to `.timeOfImpact`.
+
+#### Added
+
+- Fix the kinematic character controller getting stuck against vertical walls.
+- Add `KinematicCharacterController.normalNudgeFactor` and `.setNormalNudgeFactor` so set a coefficient used for
+  avoiding having the character controller get stuck on penetrations.
+- Add `RigidBody.softCcdPrediction`, `.setSoftCcdPrediction`, and `RigidBodyDesc.setSoftCcdPrediction` for configuring
+  soft-ccd on the rigid-body. See [rapier#625](https://github.com/dimforge/rapier/pull/625) for additional details on
+  soft-ccd.
+- 3D version only: add `TriMeshFlags::FIX_INTERNAL_EDGES` and `HeightFieldFlags::FIX_INTERNAL_EDGES` for enabling
+  internal edges correction (which is no longer enabled by default). The flags have been added as an optional parameter
+  when building the shapes.
+- Add `Collider.contactSkin`, `.setContactSkin`, and `ColliderDesc.setContactSkin` for configuring the collider’s
+  contact skin. See [rapier#625](https://github.com/dimforge/rapier/pull/625) for additional details on contact skins.
+- Add `World.lengthUnit` which can be used to indicate the typical size of dynamic objects (e.g. 100 pixels instead of
+  1 meter). This helps the physics engine adjust internal thresholds for better results.
+
+#### Fixed
+
+- Fix an issue where the reported contact force are lower than their actual value.
+
+### 0.12.0 (2024-01-28)
+
+The main highlight of this release is the implementation of a new non-linear constraints solver for better stability
+and increased convergence rates. See [#579](https://github.com/dimforge/rapier/pull/579) for additional information.
+
+In order to adjust the number of iterations of the new solver, simply adjust `World.numSolverIterations`.
+If recovering the old solver behavior is useful to you, call `World.switchToStandardPgsSolver()`.
+
+It is now possible to specify some additional solver iteration for specific rigid-bodies (and everything interacting
+with it directly or indirectly through contacts and joints): `RigidBodyDesc.additionalSolverIterations` and
+`RigidBody::setAdditionalSolverIterations`. This allows for higher-accuracy on subsets of the physics scene
+without affecting performance of the other parts of the simulation.
+
+#### Modified
+
+- Renamed `CharacterController.translationApplied`, `.translationRemaining` and the `desiredTranslation`
+  method argument to `CharacterController.translationDeltaApplied`, `.translationDeltaRemaining` and the
+  `desiredTranslationDelta` to avoid confusion with the usage of the `translation` world in `RigidBody.translation()`.
+
+#### Added
+
+- Added `DynamicRayCastVehicleController` to simulate vehicles based on ray-casting.
+- Added `JointData.generic` (3D only) to create a generic 6-dof joint and manually specify the locked axes.
+
+### 0.11.2
+
+#### Fixed
+
+- Fix bug that made dynamic rigid-bodies behave like kinematic bodies after being disabled and then re-enabled.
+- Fix issue with convex polyhedron jitter due to missing contacts.
+- Fix character controller getting stuck against vertical walls.
+- Fix character controller’s snapping to ground not triggering sometimes.
+- Fix character controller’s horizontal offset being mostly ignored and some instances of vertical offset being ignored.
+
+#### Added
+
+- Add `JointData.spring` and `JointData.rope` joints.
+- Add access to the mass-properties of a rigid-body: `RigidBody.effectiveInvMass`, `.invMass()`, `.localCom()`,
+  `.worldCom()`, `.invPrincipalInertiaSqrt()`, `.principalInertia()`, `.principalInertiaLocalFrame()`,
+  `.effectiveWorldInvInertiaSqrt()`, `.effectiveAngularInertia()`.
+- Add `DynamicRayCastVehicleController.siteFrictionStiffness` to customize the side friction applied to the vehicle
+  controller’s wheel.
+
+#### Modified
+
+- Rename `World.contactsWith` to `World.contactPairsWith`.
+- Rename `World.intersectionsWith` to `World.intersectionPairsWith`.
+
+### 0.11.1 (2023-01-16)
+
+#### Fixed
+
+- Fix bug that disabled all colliders at construction time.
+
+### 0.11.0 (2023-01-15)
+
+#### Added
+
+- Add `World.propagateModifiedBodyPositionsToColliders` to propagate rigid-bodies position changes to their attached
+  colliders.
+- Add `World.updateSceneQueries` to update the scene queries data structures without stepping the whole simulation.
+- Add `RigidBody.isEnabled, RigidBody.setEnabled, RigidBodyDesc.setEnabled` to disable a rigid-body (and all its
+  attached colliders) without removing it from the physics world.
+- Add `Collider.isEnabled, Collider.setEnabled, ColliderDesc.setEnabled` to disable a collider without removing it
+  from the physics world.
+- Add shape-specific methods to modify a collider’s
+  size: `Collider.setRadius, setHalfExtents, setRoundRadius, setHalfHeight`.
+
+#### Modified
+
+- Add a boolean argument to `RigidBody.setBodyType` to indicate if the rigid-body should awaken after changing
+  its type.
+
+#### Fixed
+
+- Fix rigid-bodies automatically waking up at creation even if they were explicitly created sleeping.
+
+### 0.10.0 (2022-11-06)
+
+#### Added
+
+- Add `World.createCharacterController`, `World.removeCharacterController` to create/remove a kinematic character
+  controller.
+- Add a character-controller implementation with the `KinematicCharacterController` class and its method
+  `KinematicCharacterController.computeColliderMovement`. The character controller features currently supported are:
+    - Slide on uneven terrains
+    - Interaction with dynamic bodies.
+    - Climb stairs automatically.
+    - Automatically snap the body to the floor when going downstairs.
+    - Prevent sliding up slopes that are too steep
+    - Prevent sliding down slopes that are not steep enough
+    - Interactions with moving platforms.
+    - Report information on the obstacles it hit on its path.
+- Add the `HalfSpace` (infinite plane) shape. Colliders with this shape can be built using `ColliderDesc.halfspace`.
+
+#### Modified
+
+- Change the signature of `Collider.castShape` and World.castShape by adding a boolean argument `stop_at_penetration`
+  before the filter-related arguments. Set this argument to `true` to get the same result as before. If this is set to
+  `false` and the shape being cast starts it path already intersecting another shape, then a hit won’t be returned
+  with that intersecting shape unless the casting movement would result in more penetrations.
+- Reduce rounding errors in 3D when setting the rotation of a rigid-body or collider.
+
+#### Fixed
+
+- Fix incorrect application of torque if the torque is applies right after setting the rigid-body’s
+  position, but before calling `World.step`.
+
+### 0.9.0 (2022-10-07)
+
+#### Fixed
+
+- Fix unpredictable broad-phase panic when using small colliders in the simulation.
+- Fix collision events being incorrectly generated for any shape that produces multiple
+  contact manifolds (like triangle meshes).
+
+#### Modified
+
+- The `RigidBodyDesc.setAdditionalMass` method will now result in the additional angular inertia
+  being automatically computed based on the shapes of the colliders attached to the rigid-body.
+- Removed the method `RigidBodyDesc.setAdditionalPrincipalAngularInertia`. Use
+  `RigidBodyDesc.setAdditionalMassProperties` instead.
+- The methods of `RigidBodyDesc` and `ColliderDesc` will now always copy the object provided by
+  the user instead of storing the object itself.
+- The following method will now copy the user’s objects instead of storing it: `ColliderDesc.setRotation`,
+  `ColliderDesc.setMassProperties`, `RigidBodyDesc.setRotation`, `RigidBodyDesc.setAdditionalMassProperties`,
+  `RigidBodyDesc.setAngvel`.
+- Rename `RigidBody.restrictRotations` and `RigidBody.restrictTranslations` to
+  `RigidBody.setEnabledRotations` and `RigidBody.setEnabledTranslations`.
+- Rename `RigidBodyDesc.restrictRotations` and `RigidBodyDesc.restrictTranslations` to
+  `RigidBodyDesc.enabledRotations` and `RigidBodyDesc.enabledTranslations`.
+
+#### Added
+
+- Add `ImpulseJoint.setContactsEnabled`, and `MultibodyJoint.setContactsEnabled` to set whether
+  contacts are enabled between colliders attached to rigid-bodies linked by this joint.
+- Add `UnitImpulseJoint.setLimits` to set the limits of a unit joint.
+- Add `RigidBody.recomputeMassPropertiesFromColliders` to force the immediate computation
+  of a rigid-body’s mass properties (instead of waiting for them to be recomputed during the next
+  timestep). This is useful to be able to read immediately the result of a change of a rigid-body
+  additional mass-properties or a change of one of its collider’s mass-properties.
+- Add `RigidBody::setAdditionalMass` to set the additional mass for the rigid-body. The additional
+  angular inertia is automatically computed based on the attached colliders shapes. If this automatic
+  angular inertia computation isn’t desired, use `RigidBody::setAdditionalMassProperties` instead.
+- Add `Collider.setDensity`, `.setMass`, `.setMassProperties`, to alter a collider’s mass
+  properties. Note that `.setMass` will result in the collider’s angular inertia being automatically
+  computed based on this mass and on its shape.
+- Add `ColliderDesc.setMass` to set the mass of the collider instead of its density. Its angular
+  inertia tensor will be automatically computed based on this mass and its shape.
+- Add more filtering options for scene-queries. All the scene query methods now take additional optional
+  arguments to indicate if one particular collider, rigid-body, or type of colliders/rigid-bodies have to
+  be ignored by the query.
+- Add force reporting based on contact force events. The `EventHandler` trait has been modified to include
+  the method `EventQueue.drainContactForceEvents`. Contact force events are generated whenever the sum of the
+  magnitudes of all the forces between two colliders is greater than any of their
+  `Collider.contactForceEventThreshold` values (only the colliders with the `ActiveEvents.CONTACT_FORCE_EVENT`
+  flag set are taken into account for this threshold).
+
+### 0.8.1 (2022-04-06)
+
+Starting with this release, all the examples in `testbed2d` and `testbed3d` have been updated to `webpack 5`,
+and are written in Typescript. In addition, canary `0.0.0` releases will be generated automatically after each merge
+to the `master` branch.
+
+#### Fixed
+
+- Fix bug causing `World.intersectionPair` to always return `false`.
+
+### 0.8.0 (2022-03-31)
+
+#### Breaking changes
+
+- Most APIs that relied on rigid-body handles or collider handles have been modified to rely on `RigidBody`
+  or `Collider` objects instead. Handles are now only needed for events and hooks.
+- Rename STATIC to FIXED in the `ActiveCollisionTypes` flags.
+- The `RigidBody.applyForce` and `.applyTorque` methods have been replaced by `.addForce` and `.addTorque`. These
+  force/torques are no longer automatically zeroed after a timestep. To zero them manually, call `.resetForce` or
+  `.resetTorque`.
+- The `EventQueue.drainContactEvents` and `EventQueue.drainIntersectionEvents` have been merged into a single
+  method: `EventQueue:drainCollisionEvents`.
+
+#### Added
+
+- Add a lines-based debug-renderer. See [#119](https://github.com/dimforge/rapier.js/pull/119) for examples of
+  integration of the debug-renderer with `THREE.js` and `PIXI.js`.
+- Each rigid-body, collider, impulse joint, and multibody joint now have a unique object instance. This instance
+  in only valid as long as the corresponding objects is inserted to the `World`.
+- Add a `wakeUp: bool` argument to the `World.createImpulseJoint` and `MultibodyJointSet::createMultibodyJoint` to
+  automatically wake-up the rigid-bodies attached to the inserted joint.
+- Add a `filter` callback to all the scene queries. Use this for filtering more fine-grained than collision groups.
+- Add `collider.shape` that represents the shape of a collider. This is a more convenient way of reading the collider’s
+  shape properties. Modifying this shape will have no effect unless `collider.setShape` is called with the modified
+  shape.
+- Add `Collider.containsPoint`, `.projectPoint`, `.intersectsRay`, `.castShape`, `.castCollider`, `.intersectsShape`,
+  `.contactShape`, `.contactCollider`, `.castRay`, `.castRayAndGetNormal`.
+- Add `Shape.containsPoint`, `.projectPoint`, `.intersectsRay`, `.castShape`, `.intersectsShape`,
+  `.contactShape`, `.castRay`, `.castRayAndGetNormal`.
+- Add `World.projectPointAndGetFeature` which includes the feature Id the projected point lies on.
+- Add `RigidBodyDesc.sleeping` to initialize the rigid-body in a sleeping state.
+
+### 0.8.0-alpha.2 (2022-03-20)
+
+The changelog hasn’t been updated yet.
+For an overview of the changes, refer to the changelog for the unreleased Rust version:
+https://github.com/dimforge/rapier/blob/master/CHANGELOG.md#unreleased
+
+### 0.8.0-alpha.1 (2022-01-28)
+
+#### Fixed
+
+- Fix a crash when calling `collider.setShape`.
+- Fix a crash when calling `world.collidersWithAabbIntersectingAabb`.
+- Fix damping not being applied properly to some rigid-bodies.
+
+### 0.8.0-alpha.0 (2022-01-16)
+
+This release updates to Rapier 0.12.0-alpha.0 which contains:
+
+- A **complete rewrite** of the joint and contact constraint solver.
+- The support for locking individual translation axes.
+- The support for multibody joint.
+
+This is an **alpha** release because the new solver still needs some tuning,
+and the spherical joint motors/limits is currently not working.
+
+#### Breaking changes
+
+- In 3D: renamed `BallJoint` to `SphericalJoint`.
+- In 2D: renamed `BallJoint` to `RevoluteJoint`.
+- Remove the joint motors and limits for the spherical joint (this is a temporary removal until with leave alpha).
+- All the joint-related structures and methods (`RevoluteJoint`, `PrismaticJoint`, `createJoint`, etc.) have renamed to
+  include `impulse` in the names: `RevoluteImpulseJoint`, `PrismaticImpulseJoint`, `createImpulseJoint`, etc. This is
+  to differentiate them from the new multibody joints.
+- Remove from the integration parameters all the parameters that are no longer meaningful (`maxPositionIterations`,
+  `jointErp`, `warmstartCoeff`, `allowedAngularError`, `maxLinearCorrection`, `maxAngularCorrection`).
+
+#### Added
+
+- Add multibody joints. They are created the same way as impulse joints, except that they are created
+  by `world.createMultibodyJoint` instead of `world.createImpulseJoint`.
+- Add the ability to lock individual translation axes. Use `rigidBody.restrictTranslation`.
+
+#### Fixed
+
+- Fixed an issue with velocity-based kinematic bodies applying kinematic rotation improperly.
+- Fixed the second witness points and normals returned by shape-casts.
+- Fixed the second local contact normal and points returned by contact manifolds.
+
+### 0.7.6
+
+This release updates to Rapier 0.11.1 which contains several bug fixes.
+
+#### Fixed
+
+- Fix a bug causing large moving colliders to miss some collisions after some time.
+- Fix invalid forces generated by contacts with position-based kinematic bodies.
+- Fix a bug where two colliders without parent would not have their collision computed even if the
+  appropriate flags were set.
+
+### 0.7.5
+
+#### Fixed
+
+- Fixed an issue where a collider with no parent attached would not be created
+  under some conditions.
+
+### 0.7.4
+
+This release was broken and has been unpublished.
+
+### 0.7.3
+
+#### Fixed
+
+- The `collider.halfExtents()` methods now returns a valid value for round cuboids.
+
+### 0.7.2 (rapier-compat only)
+
+#### Modified
+
+- The `rapier-compat` packages don’t need the `Buffer` polyfill anymore.
+
+### 0.7.1
+
+#### Modified
+
+- Update to use Rapier 0.11.0.
+- The `rapier-compat` packages are now generated by rollup.
+
+### v0.7.0
+
+The typescripts bindings for Rapier have
+a [brand new user-guide](https://rapier.rs/docs/user_guides/javascript/getting_started_js)
+covering all the features of the physics engine!
+
+### Breaking change
+
+- The `World.castRay` and `World.castRayAndGetNormal` methods have a different signature now, making them
+  more flexible.
+- Rename `ActiveHooks::FILTER_CONTACT_PAIR` to `ActiveHooks.FILTER_CONTACT_PAIRS`.
+- Rename `ActiveHooks::FILTER_INTERSECTION_PAIR` to `ActiveHooks.FILTER_INTERSECTION_PAIRS`.
+- Rename `BodyStatus` to `RigidBodyType`.
+- Rename `RigidBody.bodyStatus()` to `RigidBody.bodyType()`.
+- Rename `RigidBodyDesc.setMassProperties` to `RigidBodyDesc.setAdditionalMassProperties`.
+- Rename `RigidBodyDesc.setPrincipalAngularInertia` to `RigidBodyDesc.setAdditionalPrincipalAngularInertia`.
+- Rename `ColliderDesc.setIsSensor` to `ColliderDesc.setSensor.
+
+#### Added
+
+- Add `Ray.pointAt(t)` that conveniently computes `ray.origin + ray.dir * t`.
+- Add access to joint motors by defining each joint with its own class deriving from `Joint`. Each joint now
+  have its relevant motor configuration
+  methods: `configurMotorModel, configureMotorVelocity, configureMotorPosition, configureMotor`.
+- Add `World.collidersWithAabbIntersectingAabb` for retrieving the handles of all the colliders intersecting the given
+  AABB.
+- Add many missing methods for reading/modifying a rigid-body state after its creation:
+    - `RigidBody.lockTranslations`
+    - `RigidBody.lockRotations`
+    - `RigidBody.restrictRotations`
+    - `RigidBody.dominanceGroup`
+    - `RigidBody.setDominanceGroup`
+    - `RigidBody.enableCcd`
+- Add `RigidBodyDesc.setDominanceGroup` for setting the dominance group of the rigid-body being built.
+- Add many missing methods for reading/modifying a collider state after its creation:
+    - `Collider.setSendor`
+    - `Collider.setShape`
+    - `Collider.setRestitution`
+    - `Collider.setFriction`
+    - `Collider.frictionCombineRule`
+    - `Collider.setFrictionCombineRule`
+    - `Collider.restitutionCombineRule`
+    - `Collider.setRestitutionCombineRule`
+    - `Collider.setCollisionGroups`
+    - `Collider.setSolverGroups`
+    - `Collider.activeHooks`
+    - `Collider.setActiveHooks`
+    - `Collider.activeEvents`
+    - `Collider.setActiveEvents`
+    - `Collider.activeCollisionTypes`
+    - `Collider.setTranslation`
+    - `Collider.setTranslationWrtParent`
+    - `Collider.setRotation`
+    - `Collider.setRotationWrtParent`
+- Add `ColliderDesc.setMassProperties` for setting explicitly the mass properties of the collider being built (instead
+  of relying on density).
+
+#### Modified
+
+- Colliders are no longer required to be attached to a rigid-body. Therefore, the second argument
+  of `World.createCollider`
+  is now optional.
+
+### v0.6.0
+
+#### Breaking changes
+
+- The `BodyStatus::Kinematic` variant has been replaced by `BodyStatus::KinematicPositionBased` and
+  `BodyStatus::KinematicVelocityBased`. Position-based kinematic bodies are controlled by setting (at each frame) the
+  next
+  kinematic position of the rigid-body (just like before), and the velocity-based kinematic bodies are controlled
+  by setting (at each frame) the velocity of the rigid-body.
+- The `RigidBodyDesc.newKinematic` has been replaced by `RigidBodyDesc.newKinematicPositionBased` and
+  `RigidBodyDesc.newKinematicVelocityBased` in order to build a position-based or velocity-based kinematic body.
+- All contact and intersection events are now disabled by default. The can be enabled for each collider individually
+  by setting
+  its `ActiveEvents`: `ColliderDesc.setActiveEvents(ActiveEvents.PROXIMITY_EVENTS | ActiveEvents.ContactEvents)`.
+
+#### Added
+
+- It is now possible to read contact information from the narrow-phase using:
+    - `world.narrowPhase.contactsWith(collider1, callback)`
+    - `world.narrowPhase.intersectionsWith(collider1, callback)`
+    - `world.narrowPhase.contactPair(collider1, collider2, callback)`
+    - `world.narrowPhase.intersectionPair(collider1, collider2, callback)`
+- It is now possible to apply custom collision-detection filtering rules (more flexible than collision groups)
+  based on a JS object by doing the following:
+    - Enable physics hooks for the colliders you want the custom rules to apply to:
+      `ColliderDesc.setActiveHooks(ActiveHooks.FILTER_CONTACT_PAIR | ActiveHooks.FILTER_CONTACT_PAIR)`
+    - Define an object that implements the `PhysicsHooks` interface.
+    - Pass and instance of your physics hooks object as the second argument of the `World.step` method.
+- It is now possible to enable collision-detection between two non-dynamic bodies (e.g. between a kinematic
+  body and a fixed body) by setting the active collision types of a collider:
+  `ColliderDesc.setActiveCollisionTypes(ActiveCollisionTypes.ALL)`
+
+### v0.5.3
+
+- Fix a crash when loading the WASM file on iOS safari.
+
+### v0.5.2
+
+- Fix a crash that could happen after adding and then removing a collider right away,
+  before stepping the simulation.
+
+### v0.5.1
+
+- Fix a determinism issue after snapshot restoration.
+
+### v0.5.0
+
+- Significantly improve the broad-phase performances when very large colliders are used.
+- Add `RigidBodyDesc::setCcdEnabled` to enable Continuous Collision Detection (CCD) for this rigid-body. CCD ensures
+  that a fast-moving rigid-body doesn't miss a collision (the tunneling problem).
+
+#### Breaking changes:
+
+- Removed multiple fields from `IntegrationParameters`. These were unused parameters.
+
+### v0.4.0
+
+- Fix a bug in ball/convex shape collision detection causing the ball to ignore penetrations with depths greater than
+  its radius.
+
+Breaking changes:
+
+- Removed `IntegrationParameters.restitutionVelocityThreshold`
+  and `IntegrationParameters.set_restitutionVelocityThreshold`.
+
+### v0.3.1
+
+- Fix crash happening when creating a collider with a `ColliderDesc.convexHull` shape.
+- Actually remove the second argument of `RigidBodyDesc.setMass` as mentioned in the 0.3.0 changelog.
+- Improve snapshotting performances.
+
+### v0.3.0
+
+#### Added
+
+- Added a `RAPIER.version()` function at the root of the package to retrieve the version of Rapier as a string.
+
+Several geometric queries have been added (the same methods have been added to the
+`QueryPipeline` too):
+
+- `World.intersectionsWithRay`: get all colliders intersecting a ray.
+- `World.intersectionWithShape`: get one collider intersecting a shape.
+- `World.projectPoint`: get the projection of a point on the closest collider.
+- `World.intersectionsWithPoint`: get all the colliders containing a point.
+- `World.castShape`: get the first collider intersecting a shape moving linearly
+  (aka. sweep test).
+- `World.intersectionsWithShape`: get all the colliders intersecting a shape.
+
+Several new shape types are now supported:
+
+- `RoundCuboid`, `Segment`, `Triangle`, `RoundTriangle`, `Polyline`, `ConvexPolygon` (2D only),
+  `RoundConvexPolygon` (2D only), `ConvexPolyhedron` (3D only), `RoundConvexPolyhedron` (3D only),
+  `RoundCone` (3D only).
+
+It is possible to build `ColliderDesc` using these new shapes:
+
+- `ColliderDesc.roundCuboid`, `ColliderDesc.segment`, `ColliderDesc.triangle`, `ColliderDesc.roundTriangle`,
+  `ColliderDesc.convexHull`, `ColliderDesc.roundConvexHull`, `ColliderDesc.Polyline`,
+  `ColliderDesc.convexPolyline` (2D only), `ColliderDesc.roundConvexPolyline` (2D only),
+  `ColliderDesc.convexMesh` (3D only),`ColliderDesc.roundConvexMesh` (3D only), `ColliderDesc.roundCone` (3D only).
+
+It is possible to specify different rules for combining friction and restitution coefficients of the two colliders
+involved in a contact with:
+
+- `ColliderDesc.frictionCombineRule`, and `ColliderDesc.restitutionCombineRule`.
+
+Various RigidBody-related getter and setters have been added:
+
+- `RigidBodyDesc.newStatic`, `RigidBodyDesc.newDynamic`, and `RigidBodyDesc.newKinematic` are new static method, short
+  equivalent to `new RigidBodyDesc(BodyStatus.Static)`, etc.
+- `RigidBodyDesc.setGravityScale`, `RigidBody.gravityScale`, `RigidBody.setGravityScale` to get/set the scale factor
+  applied to the gravity affecting a rigid-body. Setting this to 0.0 will make the rigid-body ignore gravity.
+- `RigidBody.setLinearDamping` and `RigidBody.setAngularDamping` to set the linear and angular damping of the
+  rigid-body.
+- `RigidBodyDesc.restrictRotations` to prevent rotations along specific coordinate axes. This replaces the three boolean
+  arguments previously passed to `.setPrincipalAngularInertia`.
+
+#### Breaking changes
+
+Breaking changes related to rigid-bodies:
+
+- The `RigidBodyDesc.setTranslation` and `RigidBodyDesc.setLinvel` methods now take the components of the translation
+  directly as arguments instead of a single `Vector`.
+- The `RigidBodyDesc.setMass` takes only one argument now. Use `RigidBodyDesc.lockTranslations` to lock the
+  translational motion of the rigid-body.
+- The `RigidBodyDesc.setPrincipalAngularInertia` no longer have boolean parameters to lock rotations.
+  Use `RigidBodyDesc.lockRotations` or `RigidBodyDesc.restrictRotations` to lock the rotational motion of the
+  rigid-body.
+
+Breaking changes related to colliders:
+
+- The `ColliderDesc.setTranslation` method now take the components of the translation directly as arguments instead of a
+  single `Vector`.
+- The `roundRadius` fields have been renamed `borderRadius`.
+- The `RawShapeType.Polygon` no longer exists. For a 2D convex polygon, use `RawShapeType.ConvexPolygon`
+  instead.
+- All occurrences of `Trimesh` have been replaced by `TriMesh` (note the change in case).
+
+Breaking changes related to events:
+
+- Rename all occurrences of `Proximity` to `Intersection`.
+- The `Proximity` enum has been removed.
+- The `drainIntersectionEvents` (previously called `drainProximityEvent`) will now call a callback with
+  arguments `(number, number, boolean)`: two collider handles, and a boolean indicating if they are intersecting.
+
+Breaking changes related to scene queries:
+
+- The `QueryPipeline.castRay` method now takes two additional parameters: a boolean indicating if the ray should not
+  propagate if it starts inside of a shape, and a bit mask indicating the group the ray is part of and these it
+  interacts with.
+- The `World.castRay` and `QueryPipeline.castRay` now return a struct of type `RayColliderHit`
+  which no longer contains the normal at the hit point. Use the new methods `World.castRayAndGetNormal`
+  or `QueryPipeline.castRayAndGetNormal` in order to retrieve the normal too.
+
+### v0.2.13
+
+- Fix a bug where `RigidBodyDesc.setMass(m)` with `m != 0.0` would cause the rotations of the created rigid-body to be
+  locked.
+
+### v0.2.12
+
+- Add a boolean argument to `RigidBodyDesc.setMass` to indicate if the mass contribution of colliders should be enabled
+  for this rigid-body or not.
+- Add a `RigidBody.lockRotations` method to lock all the rigid-body rotations resulting from forces.
+- Add a `RigidBody.lockTranslations` method to lock all the rigid-body translations resulting from forces.
+- Add a `RigidBody.setPrincipalAngularInertia` method to set the principal inertia of the rigid-body. This gives the
+  ability to lock individual rotation axes of one rigid-body.
+
+### v0.2.11
+
+- Fix a bug where removing when immediately adding a collider would cause collisions to fail with the new collider.
+- Fix a regression causing some colliders added after a few timesteps not to be properly taken into account.
+
+### v0.2.10
+
+- Fix a bug where removing a collider would result in a rigid-body being removed instead.
+- Fix a determinism issue when running simulation on the Apple M1 processor.
+- Add `JointData.prismatic` and `JointData.fixed` for creating prismatic joint or fixed joints.
+
+### v0.2.9
+
+- Add `RigidBody.setLinvel` to set the linear velocity of a rigid-body.
+- Add `RigidBody.setAngvel` to set the angular velocity of a rigid-body.
+
+### v0.2.8
+
+- Add `RigidBodySet.remove` to remove a rigid-body from the set.
+- Add `ColliderSet.remove` to remove a collider from the set.
+- Add `JointSet.remove` to remove a joint from the set.
+- Add `RigidBodyDesc.setLinearDamping` and `RigidBodyDesc.setAngularDamping` for setting the linear and angular damping
+  coefficient of the rigid-body to create.
+- Add `RigidBodyDesc.setMass`, and `RigidBodyDesc.setMassProperties` for setting the initial mass properties of a
+  rigid-body.
+- Add `ColliderDesc.setCollisionGroups` to use bit-masks for collision filtering between some pairs of colliders.
+- Add `ColliderDesc.setSolverGroups` to use bit-masks for making the constraints solver ignore contacts between some
+  pairs of colliders.
+- Add `ColliderDesc.heightfield` to build a collider with an heightfield shape.
+- Add `ColliderDesc.trimesh` to build a collider with a triangle mesh shape.
+
+### v0.2.7
+
+- Reduce snapshot size and computation times.
+
+### v0.2.6
+
+- Fix bug causing an unbounded memory usage when an objects falls indefinitely.
+
+### v0.2.5
+
+- Fix wrong result given by `RigidBody.isKinematic()` and `RigidBody.isDynamic()`.
+
+### v0.2.4
+
+- Add the support for round cylinder colliders (i.e. cylinders with round edges).
+
+### v0.2.3
+
+- Add the support for cone, cylinder, and capsule colliders.
+
+### v0.2.2
+
+- Fix regression causing the density and `isSensor` properties of `ColliderDesc` to not be taken into account.
+- Throw an exception when the parent handle passed to `world.createCollider` is not a number.
+
+### v0.2.1
+
+This is a significant rewrite of the JavaScript bindings for rapier. The objective of this rewrite is to make the API
+closer to Rapier's and remove most need for manual memory management.
+
+- Calling `.free()` is now required only for objects that live for the whole duration of the simulation. This means that
+  it is no longer necessary to `.free()` vectors, rays, ray intersections, colliders, rigid-bodies, etc. Object that
+  continue to require an explicit `.free()` are:
+    - `World` and `EventQueue`.
+    - Or, if you are not using the `World` directly:
+      `RigidBodySet`, `ColliderSet`, `JointSet`, `IntegrationParameters`, `PhysicsPipeline`, `QueryPipeline`
+      , `SerializationPipeline`, and `EventQueue`.
+- Collider.parent() now returns the `RigidBodyHandle` of its parent (instead of the `RigidBody` directly).
+- Colliders are now built with `world.createCollider`, i.e., `body.createCollider(colliderDesc)`
+  becomes `world.createCollider(colliderDesc, bodyHandle)`.
+- Shape types are not an enumeration instead of strings: `ShapeType.Ball` and `ShapeType.Cuboid` instead of `"ball"`
+  and `"cuboid"`.
+- `collider.handle` is now a field instead of a function.
+- `body.handle` is now a field instead of a function.
+- The world's gravity is now a `Vector` instead of individual components, i.e., `let world = new RAPIER.World(x, y, z);`
+  becomes `let world = new RAPIER.World(new RAPIER.Vector3(x, y, z))`.
+- Most methods that took individual components as argument (`setPosition`, `setKinematicPosition`, `setRotation`, etc.)
+  now take a `Vector` or `Rotation` structure instead. For example `rigid_body.setKinematicPosition(x, y, z)`
+  becomes `rigid_body.setKinematicPosition(new RAPIER.Vector3(x, y, z))`.
+- `world.stepWithEvents` becomes `world.step` (the event queue is the last optional argument).
+- `RigidBodyDesc` and `ColliderDesc` now use the builder pattern. For example
+  `let bodyDesc = new RAPIER.RigidBodyDesc("dynamic"); bodyDesc.setTranslation(x, y, z)` becomes
+  `new RigidBodyDesc(BodyStatus.Dynamic).setTranslation(new Vector(x, y, z))`.
+- `ray.dir` and `ray.origin` are now fields instead of methods.
+- 2D rotations are now just a `number` instead of a `Rotation` struct. So instead of doing `rotation.angle`, single use
+  the number as the rotation angle.
+- 3D rotations are now represented by the interface `Rotation` (with fields `{x,y,z,w}`) or the class `Quaternion`. Any
+  object with these `{x, y, z, w}` fields can be used wherever a `Rotation` is required.
+- 2D vectors are now represented by the interface `Vector` (with fields `{x,y}`) or the class `Vector2`). Any object
+  with these `{x,y}` fields can be used wherever a `Vector` is required.
+- 3D vectors are now represented by the interface `Vector` (with fields `{x,y,z}`) or the class `Vector3`). Any object
+  with these `{x,y,z}` fields can be used wherever a `Vector` is required.
+
+### v0.2.0
+
+See changelogs for v0.2.1 instead. The NPM package for v0.2.0 were missing some files.
+
+### v0.1.17
+
+- Fix bug when ghost forces and/or crashes could be observed when a kinematic body touches a fixed body.
+
+### v0.1.16
+
+- Fix kinematic rigid-body not waking up dynamic bodies it touches.
+- Added `new Ray(origin, direction)` constructor instead of `Ray.new(origin, direction)`.
+
+### v0.1.15
+
+- Fix crash when removing a kinematic rigid-body from the World.
+
+### v0.1.14
+
+- Fix issues where force application functions took ownership of the JS vector, preventing the user from freeing
+  with `Vector.free()` afterwards.
+
+### v0.1.13
+
+- Added `rigidBody.setNextKinematicTranslation` to set the translation of a kinematic rigid-body at the next timestep.
+- Added `rigidBody.setNextKinematicRotation` to set the rotation of a kinematic rigid-body at the next timestep.
+- Added `rigidBody.predictedTranslation` to get the translation of a kinematic rigid-body at the next timestep.
+- Added `rigidBody.predictedRotation` to set the rotation of a kinematic rigid-body at the next timestep.
+- Added `Ray` and `RayIntersection` structures for ray-casting.
+- Added `world.castRay` to compute the first hit of a ray with the physics scene.
+- Fix a bug causing a kinematic rigid-body not to teleport as expected after a `rigidBody.setPosition`.
+
+### v0.1.12
+
+- Added `world.removeCollider(collider)` to remove a collider from the physics world.
+- Added `colliderDesc.setTranslation(...)` to set the relative translation of the collider to build wrt. the rigid-body
+  it is attached to.
+- Added `colliderDesc.setRotation(...)` to set the relative rotation of the collider to build wrt. the rigid-body it is
+  attached to.
+
+### v0.1.11
+
+- Fix a bug causing a crash when the broad-phase proxy handles were recycled.
+
+### v0.1.10
+
+- Fix a determinism problem that could cause rigid-body handle allocation to be non-deterministic after a snapshot
+  restoration.
+
+### v0.1.9
+
+- Added `world.getCollider(handle)` that retrieves a collider from its integer handle.
+- Added `joint.handle()` that returns the integer handle of the joint.
+
+### v0.1.8
+
+- Added `world.forEachRigidBodyHandle(f)` to apply a closure on the integer handle of each rigid-body on the world.
+- Added `world.forEachActiveRigidBody(f)` to apply a closure on each rigid-body on the world.
+- Added `world.forEachActiveRigidBodyHandle(f)` to apply a closure on the integer handle of each rigid-body on the
+  world.
+- Added `rigidBody.applyForce`, `.applyTorque`, `.applyImpulse`, `.applyTorqueImpulse`, `.applyForceAtPoint`, and
+  `.applyImpulseAtPoint` to apply a manual force or torque to a rigid-body.
+- Added the `EventQueue` structure that can be used to collect and iterate through physics events.
+- Added the `Proximity` enum that represents the proximity state of a sensor collider and another collider.
+- Added the `world.stepWithEvents(eventQueue)` which executes a physics timestep and collects the physics events into
+  the given event queue.
+
+### v0.1.7
+
+- Added `world.getRigidBody(handle)` to retrieve a rigid-body from its handle.
+- Added `world.getJoint(handle)` to retrieve a joint from its handle.
+- Added `rigidBody.rotation()` to retrieve its world-space orientation as a quaternion.
+- Added `rigidBody.setTranslation(...)` to set the translation of a rigid-body.
+- Added `rigidBody.setRotation(...)` to set the orientation of a rigid-body.
+- Added `rigidBody.wakeUp()` to manually wake up a rigid-body.
+- Added `rigidBody_desc.setRotation(...)` to set tho orientation of the rigid-body to be created.
+
+### v0.1.6
+
+- Added `world.removeRigidBody(...)` to remove a rigid-body from the world.
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diff --git a/thirdparty/rapier.js/Cargo.toml b/thirdparty/rapier.js/Cargo.toml
new file mode 100644
index 00000000..6691d264
--- /dev/null
+++ b/thirdparty/rapier.js/Cargo.toml
@@ -0,0 +1,23 @@
+[workspace]
+members = ["builds/*"]
+resolver = "2"
+
+[profile.release]
+debug = false
+codegen-units = 1
+#lto = true
+strip = true # Workaround for https://github.com/bevyengine/bevy/issues/16030 (the bug only happens in 2D)
+
+[patch.crates-io]
+#rapier2d = { path = "../rapier/crates/rapier2d" }
+#rapier3d = { path = "../rapier/crates/rapier3d" }
+#parry2d = { path = "../parry/crates/parry2d" }
+#parry3d = { path = "../parry/crates/parry3d" }
+#nalgebra = { path = "../nalgebra" }
+#simba = { path = "../simba" }
+
+#nalgebra = { git = "https://github.com/dimforge/nalgebra", branch = "dev" }
+#rapier2d = { git = "https://github.com/dimforge/rapier", rev = "82416e3ca66dcdc34c0f350cec570ef1019a199f" }
+#rapier3d = { git = "https://github.com/dimforge/rapier", rev = "82416e3ca66dcdc34c0f350cec570ef1019a199f" }
+#parry2d = { git = "https://github.com/dimforge/parry" }
+#parry3d = { git = "https://github.com/dimforge/parry" }
diff --git a/thirdparty/rapier.js/LICENSE b/thirdparty/rapier.js/LICENSE
new file mode 100644
index 00000000..e579674d
--- /dev/null
+++ b/thirdparty/rapier.js/LICENSE
@@ -0,0 +1,201 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
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+      "License" shall mean the terms and conditions for use, reproduction,
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+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
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+   6. Trademarks. This License does not grant permission to use the trade
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+      whether in tort (including negligence), contract, or otherwise,
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+
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+
+      To apply the Apache License to your work, attach the following
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diff --git a/thirdparty/rapier.js/README.md b/thirdparty/rapier.js/README.md
new file mode 100644
index 00000000..d04cc4bf
--- /dev/null
+++ b/thirdparty/rapier.js/README.md
@@ -0,0 +1,82 @@
+<p align="center">
+  <img src="https://www.rapier.rs/img/rapier_logo_color_textpath_dark.svg" alt="crates.io">
+</p>
+<p align="center">
+    <a href="https://discord.gg/vt9DJSW">
+        <img src="https://img.shields.io/discord/507548572338880513.svg?logo=discord&colorB=7289DA">
+    </a>
+    <a href="https://github.com/dimforge/rapier.js/actions">
+        <img src="https://github.com/dimforge/rapier.js/workflows/main/badge.svg" alt="Build status">
+    </a>
+    <a href="https://opensource.org/licenses/Apache-2.0">
+        <img src="https://img.shields.io/badge/License-Apache%202.0-blue.svg">
+    </a>
+</p>
+<p align = "center">
+    <strong>
+        <a href="https://rapier.rs">Website</a> | <a href="https://rapier.rs/docs/">Documentation</a> |
+        <a href="https://github.com/dimforge/rapier.js/tree/master/testbed2d/src/demos">2D examples (sources)</a> | 
+        <a href="https://github.com/dimforge/rapier.js/tree/master/testbed3d/src/demos">3D examples (sources)</a>
+    </strong>
+</p>
+
+---
+
+<p align = "center">
+<b>2D and 3D physics engines</b>
+<i>for the JavaScript programming language (official bindings).</i>
+</p>
+
+---
+
+## Building packages manually
+
+From the root of the repository, run:
+
+```shell
+./builds/prepare_builds/prepare_all_projects.sh
+./builds/prepare_builds/build_all_projects.sh
+```
+
+Note that `prepare_all_projects.sh` only needs to be run once. It needs to be re-run if any file from the
+`builds/prepare_builds` directory (and subdirectories) are modified.
+
+The built packages will be in `builds/rapier2d/pkg`, `builds/rapier3d/pkg`, etc. To build the `-compat` variant of the
+packages, run `npm run build` in the `rapier-compat` directory. Note that this will only work if you already ran
+`prepare_all_projects.sh`. The compat packages are then generated in, e.g., `rapier-compat/builds/3d/pkg`.
+
+## Feature selection
+
+Multiple NPM packages exist for Rapier, depending on your needs:
+- [`@dimforge/rapier2d`](https://www.npmjs.com/package/@dimforge/rapier2d) or
+  [`@dimforge/rapier3d`](https://www.npmjs.com/package/@dimforge/rapier3d):
+  The main build of the Rapier physics engine for 2D or 3D physics simulation. This should have wide browser
+  support while offering great performances. This does **not** guarantee cross-platform determinism of the physics
+  simulation (but it is still locally deterministic, on the same machine).
+- [`@dimforge/rapier2d-simd`](https://www.npmjs.com/package/@dimforge/rapier2d-simd) or
+  [`@dimforge/rapier3d-simd`](https://www.npmjs.com/package/@dimforge/rapier3d-simd):
+  A build with internal SIMD optimizations enabled. More limited browser support (requires support for [simd128](https://caniuse.com/?search=simd)).
+- [`@dimforge/rapier2d-deterministic`](https://www.npmjs.com/package/@dimforge/rapier2d-deterministic) or
+  [`@dimforge/rapier3d-deterministic`](https://www.npmjs.com/package/@dimforge/rapier3d-deterministic):
+  A less optimized build but with a guarantee of a cross-platform deterministic execution of the physics simulation.
+
+## Bundler support
+
+Some bundlers will struggle with the `.wasm` file package into the builds above. Alternative `-compat` versions exist
+which embed the `.wasm` file into the `.js` sources encoded with base64. This results in a bigger package size, but
+much wider bundler support.
+
+Just append `-compat` to the build you are interested in:
+[`rapier2d-compat`](https://www.npmjs.com/package/@dimforge/rapier2d-compat),
+[`rapier2d-simd-compat`](https://www.npmjs.com/package/@dimforge/rapier2d-simd-compat),
+[`rapier2d-deterministic-compat`](https://www.npmjs.com/package/@dimforge/rapier2d-deterministic-compat),
+[`rapier3d-compat`](https://www.npmjs.com/package/@dimforge/rapier3d-compat),
+[`rapier3d-simd-compat`](https://www.npmjs.com/package/@dimforge/rapier3d-simd-compat),
+[`rapier3d-deterministic-compat`](https://www.npmjs.com/package/@dimforge/rapier3d-deterministic-compat).
+
+## Nightly builds
+
+Each time a new Pull Request is merged to the `main` branch of the [`rapier.js` repository](https://github.com/dimforge/rapier.js),
+an automatic _canary_ build is triggered. Builds published to npmjs under the _canary_ tag does not come with any
+stability guarantee and does not follow semver versioning. But it can be a useful solution to try out the latest
+features until a proper release is cut.
\ No newline at end of file
diff --git a/thirdparty/rapier.js/builds/prepare_builds/Cargo.toml b/thirdparty/rapier.js/builds/prepare_builds/Cargo.toml
new file mode 100644
index 00000000..905de28f
--- /dev/null
+++ b/thirdparty/rapier.js/builds/prepare_builds/Cargo.toml
@@ -0,0 +1,9 @@
+[package]
+name = "prepare_builds"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+clap = { version = "4.5" }
+clap_derive = { version = "4.5" }
+tera = "1.20"
diff --git a/thirdparty/rapier.js/builds/prepare_builds/README.md b/thirdparty/rapier.js/builds/prepare_builds/README.md
new file mode 100644
index 00000000..4d05a2fa
--- /dev/null
+++ b/thirdparty/rapier.js/builds/prepare_builds/README.md
@@ -0,0 +1,17 @@
+# Prepare builds
+
+This project helps with making specific package: it takes a few parameter to create a (1) folder ready to compile.
+
+It uses clap so you can pass `-h` to get more info about its parameters.
+
+## usage
+
+At workspace root: `cargo run -p prepare_builds -- -d dim2 -f simd`.
+
+Or use provided scripts: `./builds/prepare_builds/prepare_all_projects.sh && ./builds/prepare_builds/build_all_projects.sh`
+
+## Technical considerations
+
+Askama/rinja was not chosen because compiled templates make it difficult to iterate on a folder and parse all templates.
+
+This folder is in `builds/` only for the workspace member glob to not complain if `builds/` is inexistent or empty.
diff --git a/thirdparty/rapier.js/builds/prepare_builds/build_all_projects.sh b/thirdparty/rapier.js/builds/prepare_builds/build_all_projects.sh
new file mode 100644
index 00000000..a8ed7840
--- /dev/null
+++ b/thirdparty/rapier.js/builds/prepare_builds/build_all_projects.sh
@@ -0,0 +1,19 @@
+#!/bin/bash
+
+for entry in builds/*
+do
+    if [[ "$(basename "$entry")" == $(basename $(dirname "${BASH_SOURCE[0]}")) ]]; then
+        echo "skipping directory: $entry"
+        continue;
+    fi
+    (
+        cd $entry
+        echo "building $entry"
+        # FIXME: ideally we'd use `npm ci`
+        # but we'd need to have generated the `package-lock` beforehand and committed them in the repository.
+        # I'm not sure yet how to store those `package-lock`s yet though.
+        # They should proably be similar to all packages, but I'm not sure.
+        npm i;
+        npm run build;
+    )
+done
diff --git a/thirdparty/rapier.js/builds/prepare_builds/prepare_all_projects.sh b/thirdparty/rapier.js/builds/prepare_builds/prepare_all_projects.sh
new file mode 100644
index 00000000..bed9c147
--- /dev/null
+++ b/thirdparty/rapier.js/builds/prepare_builds/prepare_all_projects.sh
@@ -0,0 +1,11 @@
+#!/bin/bash
+
+features=(non-deterministic deterministic simd)
+dims=(dim2 dim3)
+
+for feature in ${features[@]}; do
+    for dim in ${dims[@]}; do
+        echo "preparing dimension $dim with feature $feature"
+        cargo run -p prepare_builds -- -d ${dim} -f ${feature}
+    done
+done
diff --git a/thirdparty/rapier.js/builds/prepare_builds/src/main.rs b/thirdparty/rapier.js/builds/prepare_builds/src/main.rs
new file mode 100644
index 00000000..56675e8e
--- /dev/null
+++ b/thirdparty/rapier.js/builds/prepare_builds/src/main.rs
@@ -0,0 +1,182 @@
+use std::{
+    error::Error,
+    fs::{self, File},
+    io::Write,
+    path::{Path, PathBuf},
+};
+
+use clap::Parser;
+use clap_derive::{Parser, ValueEnum};
+use tera::{Context, Tera};
+
+/// Simple program to greet a person
+#[derive(Parser, Debug)]
+#[command(version, about, long_about = None)]
+pub struct Args {
+    /// Dimension to use
+    #[arg(short, long)]
+    dim: Dimension,
+
+    /// Features to enable
+    #[arg(short, long)]
+    feature_set: FeatureSet,
+}
+
+#[derive(ValueEnum, Debug, Clone, Copy)]
+pub enum Dimension {
+    Dim2,
+    Dim3,
+}
+
+#[derive(ValueEnum, Default, Debug, Clone, Copy)]
+pub enum FeatureSet {
+    #[default]
+    NonDeterministic,
+    Deterministic,
+    Simd,
+}
+
+/// Values to use when creating the new build folder.
+pub struct BuildValues {
+    /// Only the number of dimensions, as sometimes it will be prefixed by "dim" and sometimes post-fixed by "d".
+    pub dim: String,
+    /// real name of the additional features to enable in the project
+    pub feature_set: Vec<String>,
+    pub target_dir: PathBuf,
+    pub template_dir: PathBuf,
+    pub additional_rust_flags: String,
+    pub additional_wasm_opt_flags: Vec<String>,
+    pub js_package_name: String,
+}
+
+impl BuildValues {
+    pub fn new(args: Args) -> Self {
+        let dim = match args.dim {
+            Dimension::Dim2 => "2",
+            Dimension::Dim3 => "3",
+        };
+        let feature_set = match args.feature_set {
+            FeatureSet::NonDeterministic => vec![],
+            FeatureSet::Deterministic => vec!["enhanced-determinism"],
+            FeatureSet::Simd => vec!["simd-stable"],
+        };
+        let js_package_name = match args.feature_set {
+            FeatureSet::NonDeterministic => format!("rapier{dim}d"),
+            FeatureSet::Deterministic => format!("rapier{dim}d-deterministic"),
+            FeatureSet::Simd => format!("rapier{dim}d-simd"),
+        };
+
+        let root: PathBuf = env!("CARGO_MANIFEST_DIR").into();
+
+        Self {
+            dim: dim.to_string(),
+            feature_set: feature_set.iter().map(|f| f.to_string()).collect(),
+            template_dir: root.join("templates/").clone(),
+            target_dir: root.parent().unwrap().join(&js_package_name).into(),
+            additional_rust_flags: match args.feature_set {
+                FeatureSet::Simd => "RUSTFLAGS='-C target-feature=+simd128'".to_string(),
+                _ => "".to_string(),
+            },
+            additional_wasm_opt_flags: match args.feature_set {
+                FeatureSet::Simd => vec!["--enable-simd".to_string()],
+                _ => vec![],
+            },
+            js_package_name,
+        }
+    }
+}
+
+fn main() {
+    let args = Args::parse();
+    dbg!(&args);
+
+    let build_values = BuildValues::new(args);
+    copy_top_level_files_in_directory(&build_values.template_dir, &build_values.target_dir)
+        .expect("Failed to copy directory");
+    process_templates(&build_values).expect("Failed to process templates");
+}
+
+fn copy_top_level_files_in_directory(
+    src: impl AsRef<Path>,
+    dest: impl AsRef<std::ffi::OsStr>,
+) -> std::io::Result<()> {
+    let src = src.as_ref();
+    let dest = Path::new(&dest);
+    if dest.exists() {
+        fs::remove_dir_all(&dest)?;
+    }
+    fs::create_dir_all(&dest)?;
+
+    for entry in fs::read_dir(src)? {
+        let entry = entry?;
+        let path = entry.path();
+        let dest_path = dest.join(path.file_name().unwrap());
+
+        if !path.is_dir() {
+            fs::copy(&path, &dest_path)?;
+        }
+    }
+    Ok(())
+}
+
+/// Process all tera templates in the target directory:
+/// - Remove the extension
+/// - Render the templates to
+///
+fn process_templates(build_values: &BuildValues) -> std::io::Result<()> {
+    let target_dir = build_values.target_dir.clone();
+
+    let mut context = Context::new();
+    context.insert("dimension", &build_values.dim);
+    context.insert("additional_features", &build_values.feature_set);
+    context.insert("additional_rust_flags", &build_values.additional_rust_flags);
+    context.insert(
+        "additional_wasm_opt_flags",
+        &build_values.additional_wasm_opt_flags,
+    );
+    context.insert("js_package_name", &build_values.js_package_name);
+
+    let tera = match Tera::new(target_dir.join("**/*.tera").to_str().unwrap()) {
+        Ok(t) => t,
+        Err(e) => {
+            eprintln!("Parsing error(s): {}", e);
+            ::std::process::exit(1);
+        }
+    };
+    dbg!(tera.templates.keys(), &context);
+
+    for entry in fs::read_dir(target_dir)? {
+        let entry = entry?;
+        let path = entry.path();
+        // For tera templates, remove extension.
+        if path.extension() == Some(std::ffi::OsStr::new("tera")) {
+            let mut i = path.iter();
+
+            // Get path from target directory
+            for _ in i
+                .by_ref()
+                .take_while(|c| *c != build_values.target_dir.file_name().unwrap())
+            {}
+            let path_template = i.as_path();
+            match tera.render(path_template.to_str().unwrap(), &context) {
+                Ok(s) => {
+                    let old_path = path.clone();
+                    let new_path = path.with_extension("");
+                    let mut file = File::create(path.join(new_path))?;
+                    file.write_all(s.as_bytes())?;
+                    std::fs::remove_file(old_path)?;
+                }
+                Err(e) => {
+                    eprintln!("Error: {}", e);
+                    let mut cause = e.source();
+                    while let Some(e) = cause {
+                        eprintln!("Reason: {}", e);
+                        cause = e.source();
+                    }
+                }
+            };
+        }
+    }
+
+    Ok(())
+}
diff --git a/thirdparty/rapier.js/builds/prepare_builds/templates/Cargo.toml.tera b/thirdparty/rapier.js/builds/prepare_builds/templates/Cargo.toml.tera
new file mode 100644
index 00000000..af9756d1
--- /dev/null
+++ b/thirdparty/rapier.js/builds/prepare_builds/templates/Cargo.toml.tera
@@ -0,0 +1,60 @@
+[package]
+name = "dimforge_{{ js_package_name }}" # Can't be named rapier{{ dimension }}d which conflicts with the dependency.
+version = "0.19.3"
+authors = ["Sébastien Crozet <developer@crozet.re>"]
+description = "{{ dimension }}-dimensional physics engine in Rust - official JS bindings."
+documentation = "https://rapier.rs/rustdoc/rapier{{ dimension }}d/index.html"
+homepage = "https://rapier.rs"
+repository = "https://github.com/dimforge/rapier.js"
+readme = "README.md"
+keywords = ["physics", "dynamics", "rigid", "real-time", "joints"]
+license = "Apache-2.0"
+edition = "2018"
+
+[features]
+default = ["dim{{ dimension }}"]
+dim{{ dimension }} = []
+
+[lib]
+name = "rapier_wasm{{ dimension }}d"
+path = "../../src/lib.rs"
+crate-type = ["cdylib", "rlib"]
+required-features = ["dim{{ dimension }}"]
+
+[lints]
+rust.unexpected_cfgs = { level = "warn", check-cfg = [
+    'cfg(feature, values("dim{% if dimension == "2" %}3{% else %}2{% endif %}"))',
+] }
+
+[dependencies]
+rapier{{ dimension }}d = { version = "0.30.1", features = [
+    "serde-serialize",
+    "debug-render",
+    "profiler",
+    {%- for feature in additional_features %}
+    "{{ feature }}",
+    {%- endfor %}
+] }
+# The explicit dependency to parry only needed to pin the patch version.
+parry{{ dimension }}d = { version = "^0.25.3" }
+ref-cast = "1"
+wasm-bindgen = "0.2.100"
+js-sys = "0.3"
+nalgebra = "0.34"
+serde = { version = "1", features = ["derive", "rc"] }
+bincode = "1"
+palette = "0.7"
+
+[package.metadata.wasm-pack.profile.release]
+# add -g to keep debug symbols
+wasm-opt = [
+    '-O4',
+    '--dce',
+    # The two options below are needed because of: https://github.com/rustwasm/wasm-pack/issues/1501
+    '--enable-bulk-memory',
+    '--enable-nontrapping-float-to-int',
+    {%- for flag in additional_wasm_opt_flags %}
+    '{{ flag }}',
+    {%- endfor %}
+]
+#wasm-opt = ['-g']
diff --git a/thirdparty/rapier.js/builds/prepare_builds/templates/LICENSE b/thirdparty/rapier.js/builds/prepare_builds/templates/LICENSE
new file mode 100644
index 00000000..e579674d
--- /dev/null
+++ b/thirdparty/rapier.js/builds/prepare_builds/templates/LICENSE
@@ -0,0 +1,201 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
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+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
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+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
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+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
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+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
+      submitted to Licensor for inclusion in the Work by the copyright owner
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+      to the Licensor or its representatives, including but not limited to
+      communication on electronic mailing lists, source code control systems,
+      and issue tracking systems that are managed by, or on behalf of, the
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+
+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
+
+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
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+   3. Grant of Patent License. Subject to the terms and conditions of
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+      Contribution(s) alone or by combination of their Contribution(s)
+      with the Work to which such Contribution(s) was submitted. If You
+      institute patent litigation against any entity (including a
+      cross-claim or counterclaim in a lawsuit) alleging that the Work
+      or a Contribution incorporated within the Work constitutes direct
+      or contributory patent infringement, then any patent licenses
+      granted to You under this License for that Work shall terminate
+      as of the date such litigation is filed.
+
+   4. Redistribution. You may reproduce and distribute copies of the
+      Work or Derivative Works thereof in any medium, with or without
+      modifications, and in Source or Object form, provided that You
+      meet the following conditions:
+
+      (a) You must give any other recipients of the Work or
+          Derivative Works a copy of this License; and
+
+      (b) You must cause any modified files to carry prominent notices
+          stating that You changed the files; and
+
+      (c) You must retain, in the Source form of any Derivative Works
+          that You distribute, all copyright, patent, trademark, and
+          attribution notices from the Source form of the Work,
+          excluding those notices that do not pertain to any part of
+          the Derivative Works; and
+
+      (d) If the Work includes a "NOTICE" text file as part of its
+          distribution, then any Derivative Works that You distribute must
+          include a readable copy of the attribution notices contained
+          within such NOTICE file, excluding those notices that do not
+          pertain to any part of the Derivative Works, in at least one
+          of the following places: within a NOTICE text file distributed
+          as part of the Derivative Works; within the Source form or
+          documentation, if provided along with the Derivative Works; or,
+          within a display generated by the Derivative Works, if and
+          wherever such third-party notices normally appear. The contents
+          of the NOTICE file are for informational purposes only and
+          do not modify the License. You may add Your own attribution
+          notices within Derivative Works that You distribute, alongside
+          or as an addendum to the NOTICE text from the Work, provided
+          that such additional attribution notices cannot be construed
+          as modifying the License.
+
+      You may add Your own copyright statement to Your modifications and
+      may provide additional or different license terms and conditions
+      for use, reproduction, or distribution of Your modifications, or
+      for any such Derivative Works as a whole, provided Your use,
+      reproduction, and distribution of the Work otherwise complies with
+      the conditions stated in this License.
+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      implied, including, without limitation, any warranties or conditions
+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
+      the brackets!)  The text should be enclosed in the appropriate
+      comment syntax for the file format. We also recommend that a
+      file or class name and description of purpose be included on the
+      same "printed page" as the copyright notice for easier
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+
+   Copyright 2020 Dimforge EURL
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
diff --git a/thirdparty/rapier.js/builds/prepare_builds/templates/README.md.tera b/thirdparty/rapier.js/builds/prepare_builds/templates/README.md.tera
new file mode 100644
index 00000000..3455eab2
--- /dev/null
+++ b/thirdparty/rapier.js/builds/prepare_builds/templates/README.md.tera
@@ -0,0 +1,70 @@
+<p align="center">
+  <img src="https://www.rapier.rs/img/rapier_logo_color_textpath_dark.svg" alt="crates.io">
+</p>
+<p align="center">
+    <a href="https://discord.gg/vt9DJSW">
+        <img src="https://img.shields.io/discord/507548572338880513.svg?logo=discord&colorB=7289DA">
+    </a>
+    <a href="https://github.com/dimforge/rapier.js/actions">
+        <img src="https://github.com/dimforge/rapier.js/workflows/main/badge.svg" alt="Build status">
+    </a>
+    <a href="https://crates.io/crates/rapier{{ dimension }}d">
+         <img src="https://img.shields.io/crates/v/rapier{{ dimension }}d.svg?style=flat-square" alt="crates.io">
+    </a>
+    <a href="https://www.npmjs.com/package/@dimforge/rapier{{ dimension }}d">
+        <img src="https://badge.fury.io/js/%40dimforge%2Frapier{{ dimension }}d.svg" alt="npm version">
+    </a>
+    <a href="https://opensource.org/licenses/Apache-2.0">
+        <img src="https://img.shields.io/badge/License-Apache%202.0-blue.svg">
+    </a>
+</p>
+<p align = "center">
+    <strong>
+        <a href="https://rapier.rs">Website</a> | <a href="https://rapier.rs/docs/">Documentation</a>
+    </strong>
+</p>
+
+---
+
+<p align = "center">
+<b>{{ dimension }}D physics engine</b>
+<i>for the JavaScript programming language (official bindings).</i>
+</p>
+
+---
+
+## Feature selection
+
+Multiple NPM packages exist for Rapier, depending on your needs:
+- [`@dimforge/rapier2d`](https://www.npmjs.com/package/@dimforge/rapier2d) or
+  [`@dimforge/rapier3d`](https://www.npmjs.com/package/@dimforge/rapier3d):
+  The main build of the Rapier physics engine for 2D or 3D physics simulation. This should have wide browser
+  support while offering great performances. This does **not** guarantee cross-platform determinism of the physics
+  simulation (but it is still locally deterministic, on the same machine).
+- [`@dimforge/rapier2d-simd`](https://www.npmjs.com/package/@dimforge/rapier2d-simd) or
+  [`@dimforge/rapier3d-simd`](https://www.npmjs.com/package/@dimforge/rapier3d-simd):
+  A build with internal SIMD optimizations enabled. More limited browser support (requires support for [simd128](https://caniuse.com/?search=simd)).
+- [`@dimforge/rapier2d-deterministic`](https://www.npmjs.com/package/@dimforge/rapier2d-deterministic) or
+  [`@dimforge/rapier3d-deterministic`](https://www.npmjs.com/package/@dimforge/rapier3d-deterministic):
+  A less optimized build but with a guarantee of a cross-platform deterministic execution of the physics simulation.
+
+## Bundler support
+
+Some bundlers will struggle with the `.wasm` file package into the builds above. Alternative `-compat` versions exist
+which embed the `.wasm` file into the `.js` sources encoded with base64. This results in a bigger package size, but
+much wider bundler support.
+
+Just append `-compat` to the build you are interested in:
+[`rapier2d-compat`](https://www.npmjs.com/package/@dimforge/rapier2d-compat),
+[`rapier2d-simd-compat`](https://www.npmjs.com/package/@dimforge/rapier2d-simd-compat),
+[`rapier2d-deterministic-compat`](https://www.npmjs.com/package/@dimforge/rapier2d-deterministic-compat),
+[`rapier3d-compat`](https://www.npmjs.com/package/@dimforge/rapier3d-compat),
+[`rapier3d-simd-compat`](https://www.npmjs.com/package/@dimforge/rapier3d-simd-compat),
+[`rapier3d-deterministic-compat`](https://www.npmjs.com/package/@dimforge/rapier3d-deterministic-compat).
+
+## Nightly builds
+
+Each time a new Pull Request is merged to the `main` branch of the [`rapier.js` repository](https://github.com/dimforge/rapier.js),
+an automatic _canary_ build is triggered. Builds published to npmjs under the _canary_ tag does not come with any
+stability guarantee and does not follow semver versioning. But it can be a useful solution to try out the latest
+features until a proper release is cut.
\ No newline at end of file
diff --git a/thirdparty/rapier.js/builds/prepare_builds/templates/build_rust.sh.tera b/thirdparty/rapier.js/builds/prepare_builds/templates/build_rust.sh.tera
new file mode 100644
index 00000000..6fd6ae82
--- /dev/null
+++ b/thirdparty/rapier.js/builds/prepare_builds/templates/build_rust.sh.tera
@@ -0,0 +1,15 @@
+#!/bin/sh
+
+# Cleaning rust because changing rust flags may lead to different build results.
+cargo clean
+
+{{ additional_rust_flags }} npx wasm-pack build
+sed -i.bak 's#dimforge_rapier#@dimforge/rapier#g' pkg/package.json
+sed -i.bak 's/"rapier_wasm{{ dimension }}d_bg.wasm"/"*"/g' pkg/package.json
+(
+    cd pkg
+    npm pkg delete sideEffects
+    npm pkg set 'sideEffects[0]'="./*.js"
+)
+rm pkg/*.bak
+rm pkg/.gitignore
diff --git a/thirdparty/rapier.js/builds/prepare_builds/templates/build_typescript.sh.tera b/thirdparty/rapier.js/builds/prepare_builds/templates/build_typescript.sh.tera
new file mode 100644
index 00000000..8fcce98b
--- /dev/null
+++ b/thirdparty/rapier.js/builds/prepare_builds/templates/build_typescript.sh.tera
@@ -0,0 +1,13 @@
+#! /bin/sh
+
+mkdir -p ./pkg/src
+cp -r ../../src.ts/* pkg/src/.
+rm -f ./pkg/raw.ts
+echo 'export * from "./rapier_wasm{{ dimension }}d"' > pkg/src/raw.ts
+# See https://serverfault.com/a/137848
+find pkg/ -type f -print0 | LC_ALL=C xargs -0 sed -i.bak '\:#if DIM{% if dimension == "2" %}3{% else %}2{% endif %}:,\:#endif:d'
+npx tsc
+# NOTE: we keep the typescripts files into the NPM package for source mapping: see #3
+sed -i.bak 's/"module": "rapier_wasm{{ dimension }}d.js"/"module": "rapier.js"/g' pkg/package.json
+sed -i.bak 's/"types": "rapier_wasm{{ dimension }}d.d.ts"/"types": "rapier.d.ts"/g' pkg/package.json
+find pkg/ -type f -name '*.bak' | xargs rm
diff --git a/thirdparty/rapier.js/builds/prepare_builds/templates/package.json.tera b/thirdparty/rapier.js/builds/prepare_builds/templates/package.json.tera
new file mode 100644
index 00000000..95cc5f79
--- /dev/null
+++ b/thirdparty/rapier.js/builds/prepare_builds/templates/package.json.tera
@@ -0,0 +1,25 @@
+{
+    "name": "@dimforge/{{ js_package_name }}",
+    "description": "",
+    "private": true,
+    "exports": "./pkg",
+    "types": "./pkg/rapier.d.ts",
+    "scripts": {
+        "build": "npm run clean && npm run build:wasm && npm run build:ts && npm run build:doc",
+        "build:doc": "typedoc --tsconfig tsconfig_typedoc.json",
+        "build:wasm": "sh ./build_rust.sh",
+        "build:ts": "sh ./build_typescript.sh",
+        "clean": "rimraf pkg"
+    },
+    "//": "Better keep rimraf version in sync with wasm-pack, see https://github.com/rustwasm/wasm-pack/issues/1444",
+    "devDependencies": {
+        "rimraf": "^3.0.2",
+        "typedoc": "^0.25.13"
+    },
+    "dependencies": {
+        "wasm-pack": "^0.12.1"
+    },
+    "sideEffects": [
+        "./*.js"
+    ]
+}
\ No newline at end of file
diff --git a/thirdparty/rapier.js/builds/prepare_builds/templates/tsconfig.json b/thirdparty/rapier.js/builds/prepare_builds/templates/tsconfig.json
new file mode 100644
index 00000000..ecdfc4ce
--- /dev/null
+++ b/thirdparty/rapier.js/builds/prepare_builds/templates/tsconfig.json
@@ -0,0 +1,13 @@
+{
+    "compilerOptions": {
+        "outDir": "./pkg",
+        "module": "ES6",
+        "target": "es6",
+        "lib": ["es6"],
+        "moduleResolution": "node",
+        "sourceMap": true,
+        "declaration": true,
+        "rootDirs": ["./pkg", "./pkg/src"]
+    },
+    "files": ["./pkg/src/rapier.ts"]
+}
diff --git a/thirdparty/rapier.js/builds/prepare_builds/templates/tsconfig_typedoc.json b/thirdparty/rapier.js/builds/prepare_builds/templates/tsconfig_typedoc.json
new file mode 100644
index 00000000..eea45699
--- /dev/null
+++ b/thirdparty/rapier.js/builds/prepare_builds/templates/tsconfig_typedoc.json
@@ -0,0 +1,10 @@
+{
+    "compilerOptions": {
+        "outDir": "./pkg",
+        "moduleResolution": "node",
+        "sourceMap": true,
+        "declaration": true,
+        "lib": ["es6"]
+    },
+    "files": ["./pkg/rapier.d.ts"]
+}
diff --git a/thirdparty/rapier.js/builds/prepare_builds/templates/typedoc.json.tera b/thirdparty/rapier.js/builds/prepare_builds/templates/typedoc.json.tera
new file mode 100644
index 00000000..d96bb7a6
--- /dev/null
+++ b/thirdparty/rapier.js/builds/prepare_builds/templates/typedoc.json.tera
@@ -0,0 +1,42 @@
+{
+    "$schema": "https://typedoc.org/schema.json",
+    "entryPoints": [
+        "./pkg/rapier.d.ts"
+    ],
+    "out": "./docs",
+    "readme": "none",
+    "excludeExternals": true,
+    "excludeNotDocumented": false,
+    "intentionallyNotExported": [
+        "pkg/rapier_wasm{{ dimension }}d.d.ts:RawBroadPhase",
+        "pkg/rapier_wasm{{ dimension }}d.d.ts:RawCCDSolver",
+        "pkg/rapier_wasm{{ dimension }}d.d.ts:RawColliderSet",
+        "pkg/rapier_wasm{{ dimension }}d.d.ts:RawEventQueue",
+        "pkg/rapier_wasm{{ dimension }}d.d.ts:RawImpulseJointSet",
+        "pkg/rapier_wasm{{ dimension }}d.d.ts:RawMultibodyJointSet",
+        "pkg/rapier_wasm{{ dimension }}d.d.ts:RawIntegrationParameters",
+        "pkg/rapier_wasm{{ dimension }}d.d.ts:RawIslandManager",
+        "pkg/rapier_wasm{{ dimension }}d.d.ts:RawNarrowPhase",
+        "pkg/rapier_wasm{{ dimension }}d.d.ts:RawPhysicsPipeline",
+        "pkg/rapier_wasm{{ dimension }}d.d.ts:RawRigidBodySet",
+        "pkg/rapier_wasm{{ dimension }}d.d.ts:RawSerializationPipeline",
+        "pkg/rapier_wasm{{ dimension }}d.d.ts:RawContactManifold",
+        "pkg/rapier_wasm{{ dimension }}d.d.ts:RawShape",
+        "pkg/rapier_wasm{{ dimension }}d.d.ts:RawGenericJoint",
+        "pkg/rapier_wasm{{ dimension }}d.d.ts:RawJointAxis",
+        "pkg/rapier_wasm{{ dimension }}d.d.ts:RawRotation",
+        "pkg/rapier_wasm{{ dimension }}d.d.ts:RawVector",
+        "pkg/rapier_wasm{{ dimension }}d.d.ts:RawPointColliderProjection",
+        "pkg/rapier_wasm{{ dimension }}d.d.ts:RawPointProjection",
+        "pkg/rapier_wasm{{ dimension }}d.d.ts:RawRayColliderIntersection",
+        "pkg/rapier_wasm{{ dimension }}d.d.ts:RawRayColliderHit",
+        "pkg/rapier_wasm{{ dimension }}d.d.ts:RawRayIntersection",
+        "pkg/rapier_wasm{{ dimension }}d.d.ts:RawColliderShapeCastHit",
+        "pkg/rapier_wasm{{ dimension }}d.d.ts:RawShapeContact",
+        "pkg/rapier_wasm{{ dimension }}d.d.ts:RawShapeCastHit",
+        "pkg/rapier_wasm{{ dimension }}d.d.ts:RawQueryPipeline",
+        "pkg/rapier_wasm{{ dimension }}d.d.ts:RawDeserializedWorld",
+        "pkg/rapier_wasm{{ dimension }}d.d.ts:RawDebugRenderPipeline",
+        "pkg/rapier_wasm{{ dimension }}d.d.ts:RawContactForceEvent"
+    ]
+}
\ No newline at end of file
diff --git a/thirdparty/rapier.js/package.json b/thirdparty/rapier.js/package.json
new file mode 100644
index 00000000..ce0eec04
--- /dev/null
+++ b/thirdparty/rapier.js/package.json
@@ -0,0 +1,12 @@
+{
+    "scripts": {
+        "fmt": "prettier ."
+    },
+    "devDependencies": {
+        "prettier": "2.7.1",
+        "typedoc": "0.23.19",
+        "typescript": "4.8.4",
+        "wasm-opt": "1.4.0",
+        "wasm-pack": "0.12.1"
+    }
+}
diff --git a/thirdparty/rapier.js/publish_all_canary.sh b/thirdparty/rapier.js/publish_all_canary.sh
new file mode 100644
index 00000000..21155429
--- /dev/null
+++ b/thirdparty/rapier.js/publish_all_canary.sh
@@ -0,0 +1,19 @@
+#!/bin/bash
+
+for entry in builds/*/pkg
+do
+    (
+        echo "Publishing $entry"
+        cd $entry; npm version 0.0.0-$(git rev-parse --short HEAD)-$(date '+%Y%m%d') --git-tag-version false; 
+        npm publish --tag canary --access public;
+    )
+done;
+
+for entry in rapier-compat/builds/*/pkg
+do
+    (
+        echo "Publishing $entry"
+        cd $entry; npm version 0.0.0-$(git rev-parse --short HEAD)-$(date '+%Y%m%d') --git-tag-version false; 
+        npm publish --tag canary --access public;
+    )
+done;
\ No newline at end of file
diff --git a/thirdparty/rapier.js/publish_all_prod.sh b/thirdparty/rapier.js/publish_all_prod.sh
new file mode 100644
index 00000000..f04915cb
--- /dev/null
+++ b/thirdparty/rapier.js/publish_all_prod.sh
@@ -0,0 +1,19 @@
+#!/bin/bash
+
+for entry in builds/*/pkg
+do
+    (
+        echo "Publishing $entry"
+        cd $entry;
+        npm publish --access public;
+    )
+done;
+
+for entry in rapier-compat/builds/*/pkg
+do
+    (
+        echo "Publishing $entry"
+        cd $entry;
+        npm publish --access public;
+    )
+done;
\ No newline at end of file
diff --git a/thirdparty/rapier.js/rapier-compat/README.md b/thirdparty/rapier.js/rapier-compat/README.md
new file mode 100644
index 00000000..5d440ec2
--- /dev/null
+++ b/thirdparty/rapier.js/rapier-compat/README.md
@@ -0,0 +1,16 @@
+# tsconfig json files
+
+- tsconfig.common.json - shared TypeScript options
+- tsconfig.pkg2d.json - config for compiling rapier2d-compat
+- tsconfig.pkg3d.json - config for compiling rapier3d-compat
+- tconfig.json - for IDE (VSCode) and unit tests. Includes Jest types.
+
+## Generation steps
+
+Check `./package.json scripts`, which are used by CI.
+
+Summary:
+
+- build rust wasm projects into their dedicated folder in `./builds/`
+- copy common javascript and generate dimension specific javascript into a common `./pkg` folder
+- copy that `pkg` folder in each folder from `./builds`
diff --git a/thirdparty/rapier.js/rapier-compat/build-rust.sh b/thirdparty/rapier.js/rapier-compat/build-rust.sh
new file mode 100644
index 00000000..2acd18f8
--- /dev/null
+++ b/thirdparty/rapier.js/rapier-compat/build-rust.sh
@@ -0,0 +1,50 @@
+#!/bin/bash
+
+
+help()
+{
+    printf "Usage: %s: [-d 2|3] [-f deterministim|non-deterministic|simd]\n" $0
+}
+
+while getopts :d:f: name
+do
+    case $name in
+    d)  
+        dimension="$OPTARG";;
+    f)  
+        feature="$OPTARG";;
+    ?)  help ; exit 1;;
+    esac
+done
+
+if [[ -z "$dimension" ]]; then
+    help; exit 2;
+fi
+if [[ -z "$feature" ]]; then
+    help; exit 3;
+fi
+
+if [[ $feature == "non-deterministic" ]]; then
+    feature_postfix=""
+else
+    feature_postfix="-${feature}"
+fi
+
+rust_source_directory="../builds/rapier${dimension}d${feature_postfix}"
+
+if [ ! -d "$rust_source_directory" ]; then
+    echo "Directory $rust_source_directory does not exist";
+    echo "You may want to generate rust projects first.";
+    help
+    exit 4;
+fi
+
+# Working dir in wasm-pack is the project root so we need that "../../"
+
+if [[ $feature == "simd" ]]; then
+    export additional_rustflags='-C target-feature=+simd128'
+else
+    export additional_rustflags=''
+fi
+
+RUSTFLAGS="${additional_rustflags}" wasm-pack --verbose build --target web --out-dir "../../rapier-compat/builds/${dimension}d${feature_postfix}/wasm-build" "$rust_source_directory"
diff --git a/thirdparty/rapier.js/rapier-compat/fix_raw_file.sh b/thirdparty/rapier.js/rapier-compat/fix_raw_file.sh
new file mode 100644
index 00000000..66f8bfaf
--- /dev/null
+++ b/thirdparty/rapier.js/rapier-compat/fix_raw_file.sh
@@ -0,0 +1,11 @@
+#!/bin/bash
+
+for feature in \
+2d 2d-deterministic 2d-simd \
+3d 3d-deterministic 3d-simd
+do
+
+echo 'export * from "'"./rapier_wasm$feature"'"' > builds/${feature}/pkg/raw.d.ts
+echo 'export * from "'"./rapier_wasm$feature"'"' > builds/${feature}/pkg/raw.d.ts
+
+done;
\ No newline at end of file
diff --git a/thirdparty/rapier.js/rapier-compat/gen_src.sh b/thirdparty/rapier.js/rapier-compat/gen_src.sh
new file mode 100644
index 00000000..24ccc441
--- /dev/null
+++ b/thirdparty/rapier.js/rapier-compat/gen_src.sh
@@ -0,0 +1,58 @@
+# Copy source and remove #if sections - similar to script in ../rapierXd
+set -e
+
+gen_js() {
+  DIM=$1
+  GENOUT="./gen${DIM}"
+
+  # Make output directories
+  mkdir -p ${GENOUT}
+
+  # Copy common sources
+  cp -r ../src.ts/* $GENOUT
+
+  # Copy compat mode override sources
+  rm -f "${GENOUT}/raw.ts" "${GENOUT}/init.ts"
+  cp -r ./src${DIM}/* $GENOUT
+}
+
+gen_js "2d"
+gen_js "3d"
+
+# See https://serverfault.com/a/137848
+find gen2d/ -type f -print0 | LC_ALL=C xargs -0 sed -i.bak '\:#if DIM3:,\:#endif:d'
+find gen3d/ -type f -print0 | LC_ALL=C xargs -0 sed -i.bak '\:#if DIM2:,\:#endif:d'
+
+# Clean up backup files.
+find gen2d/ -type f -name '*.bak' | xargs rm
+find gen3d/ -type f -name '*.bak' | xargs rm
+
+for features_set in \
+"2" "2 deterministic" "2 simd" \
+"3" "3 deterministic" "3 simd"
+do
+
+  set -- $features_set # Convert the "tuple" into the param args $1 $2...
+  dimension=$1
+  if [ -z "$2" ]; then
+    feature="${1}d";
+  else
+    feature="${1}d-${2}";
+  fi
+
+  mkdir -p ./builds/${feature}/pkg/
+
+  cp ./builds/${feature}/wasm-build/rapier_wasm* ./builds/${feature}/pkg/
+  cp -r ./gen${dimension}d ./builds/${feature}/
+
+  # copy tsconfig, as they contain paths
+  cp ./tsconfig.common.json ./tsconfig.json ./builds/${feature}/
+  cp ./tsconfig.pkg${dimension}d.json ./builds/${feature}/tsconfig.pkg.json
+
+  # "import.meta" causes Babel to choke, but the code path is never taken so just remove it.
+  sed -i.bak 's/import.meta.url/"<deleted>"/g' ./builds/${feature}/pkg/rapier_wasm${dimension}d.js
+
+  # Clean up backup files.
+  find ./builds/${feature}/pkg/ -type f -name '*.bak' | xargs rm
+
+done
diff --git a/thirdparty/rapier.js/rapier-compat/package.json b/thirdparty/rapier.js/rapier-compat/package.json
new file mode 100644
index 00000000..f97e9cf4
--- /dev/null
+++ b/thirdparty/rapier.js/rapier-compat/package.json
@@ -0,0 +1,59 @@
+{
+    "name": "build-rapier",
+    "description": "Build scripts for compatibility package with inlined webassembly as base64.",
+    "private": true,
+    "scripts": {
+        "build-rust-2d-non-deterministic": "./build-rust.sh -f non-deterministic -d 2",
+        "build-rust-2d-deterministic": "./build-rust.sh -f deterministic -d 2",
+        "build-rust-2d-simd": "./build-rust.sh -f simd -d 2",
+        "build-rust-2d-all": "npm run build-rust-2d-non-deterministic && npm run build-rust-2d-deterministic && npm run build-rust-2d-simd",
+        "build-rust-3d-non-deterministic": "./build-rust.sh -f non-deterministic -d 3",
+        "build-rust-3d-deterministic": "./build-rust.sh -f deterministic -d 3",
+        "build-rust-3d-simd": "./build-rust.sh -f simd -d 3",
+        "build-rust-3d-all": "npm run build-rust-3d-non-deterministic && npm run build-rust-3d-deterministic && npm run build-rust-3d-simd",
+        "build-rust-all": "npm run build-rust-2d-all && npm run build-rust-3d-all",
+        "build-genjs": "sh ./gen_src.sh",
+        "build-js": "rollup --config rollup.config.js --bundleConfigAsCjs",
+        "fix-raw-file": "sh ./fix_raw_file.sh",
+        "build": "npm run clean && npm run build-rust-all && npm run build-genjs && npm run build-js && npm run fix-raw-file",
+        "clean": "rimraf gen2d gen3d builds",
+        "test": "jest --detectOpenHandles",
+        "all": "npm run build"
+    },
+    "dependencies": {
+        "base64-js": "^1.5.1"
+    },
+    "devDependencies": {
+        "@rollup/plugin-commonjs": "^23.0.2",
+        "@rollup/plugin-node-resolve": "^15.0.1",
+        "@rollup/plugin-typescript": "^9.0.2",
+        "@rollup/plugin-terser": "0.1.0",
+        "@types/jest": "^29.2.1",
+        "jest": "^29.2.2",
+        "rimraf": "^3.0.2",
+        "rollup": "^3.2.5",
+        "rollup-plugin-base64": "^1.0.1",
+        "rollup-plugin-copy": "^3.4.0",
+        "rollup-plugin-filesize": "^9.1.2",
+        "ts-jest": "^29.0.3",
+        "tslib": "^2.4.1",
+        "typescript": "^4.8.4"
+    },
+    "jest": {
+        "roots": [
+            "<rootDir>/tests"
+        ],
+        "preset": "ts-jest",
+        "collectCoverageFrom": [
+            "builds/**/pkg/**/*.js"
+        ],
+        "transformIgnorePatterns": [
+            "[/\\\\]node_modules[/\\\\].+\\.(js|ts)$",
+            "builds/.*/[/\\\\]pkg[/\\\\].+\\.(js|ts)$"
+        ],
+        "moduleFileExtensions": [
+            "ts",
+            "js"
+        ]
+    }
+}
diff --git a/thirdparty/rapier.js/rapier-compat/rollup.config.js b/thirdparty/rapier.js/rapier-compat/rollup.config.js
new file mode 100644
index 00000000..d127c671
--- /dev/null
+++ b/thirdparty/rapier.js/rapier-compat/rollup.config.js
@@ -0,0 +1,85 @@
+import commonjs from "@rollup/plugin-commonjs";
+import {nodeResolve} from "@rollup/plugin-node-resolve";
+import typescript from "@rollup/plugin-typescript";
+import terser from "@rollup/plugin-terser";
+import path from "path";
+import {base64} from "rollup-plugin-base64";
+import copy from "rollup-plugin-copy";
+import filesize from "rollup-plugin-filesize";
+
+const config = (dim, features_postfix) => ({
+    input: `builds/${features_postfix}/gen${dim}/rapier.ts`,
+    output: [
+        {
+            file: `builds/${features_postfix}/pkg/rapier.mjs`,
+            format: "es",
+            sourcemap: true,
+            exports: "named",
+        },
+        {
+            file: `builds/${features_postfix}/pkg/rapier.cjs`,
+            format: "cjs",
+            sourcemap: true,
+            exports: "named",
+        },
+    ],
+    plugins: [
+        copy({
+            targets: [
+                {
+                    src: `builds/${features_postfix}/wasm-build/package.json`,
+                    dest: `builds/${features_postfix}/pkg/`,
+                    transform(content) {
+                        let config = JSON.parse(content.toString());
+                        config.name = `@dimforge/rapier${features_postfix}-compat`;
+                        config.description +=
+                            " Compatibility package with inlined webassembly as base64.";
+                        config.types = "rapier.d.ts";
+                        config.main = "rapier.cjs";
+                        config.module = "rapier.mjs";
+                        config.exports = {
+                            ".": {
+                                types: "./rapier.d.ts",
+                                require: "./rapier.cjs",
+                                import: "./rapier.mjs",
+                            },
+                        };
+                        // delete config.module;
+                        config.files = ["*"];
+                        return JSON.stringify(config, undefined, 2);
+                    },
+                },
+                {
+                    src: `../rapier${features_postfix}/LICENSE`,
+                    dest: `builds/${features_postfix}/pkg`,
+                },
+                {
+                    src: `../rapier${features_postfix}/README.md`,
+                    dest: `builds/${features_postfix}/pkg`,
+                },
+            ],
+        }),
+        base64({include: "**/*.wasm"}),
+        terser(),
+        nodeResolve(),
+        commonjs(),
+        typescript({
+            tsconfig: path.resolve(
+                __dirname,
+                `builds/${features_postfix}/tsconfig.pkg.json`,
+            ),
+            sourceMap: true,
+            inlineSources: true,
+        }),
+        filesize(),
+    ],
+});
+
+export default [
+    config("2d", "2d"),
+    config("2d", "2d-deterministic"),
+    config("2d", "2d-simd"),
+    config("3d", "3d"),
+    config("3d", "3d-deterministic"),
+    config("3d", "3d-simd"),
+];
diff --git a/thirdparty/rapier.js/rapier-compat/src2d/init.ts b/thirdparty/rapier.js/rapier-compat/src2d/init.ts
new file mode 100644
index 00000000..c1f2b3f2
--- /dev/null
+++ b/thirdparty/rapier.js/rapier-compat/src2d/init.ts
@@ -0,0 +1,60 @@
+/**
+ * RAPIER initialization module with dynamic WASM loading support.
+ * RAPIER 初始化模块，支持动态 WASM 加载。
+ */
+
+import wasmInit from "../pkg/rapier_wasm2d";
+
+/**
+ * Input types for WASM initialization.
+ * WASM 初始化的输入类型。
+ */
+export type InitInput =
+    | RequestInfo         // URL string or Request object
+    | URL                 // URL object
+    | Response            // Fetch Response object
+    | BufferSource        // ArrayBuffer or TypedArray
+    | WebAssembly.Module; // Pre-compiled module
+
+let initialized = false;
+
+/**
+ * Initializes RAPIER.
+ * Has to be called and awaited before using any library methods.
+ *
+ * 初始化 RAPIER。
+ * 必须在使用任何库方法之前调用并等待。
+ *
+ * @param input - WASM source (required). Can be URL, Response, ArrayBuffer, etc.
+ *                WASM 源（必需）。可以是 URL、Response、ArrayBuffer 等。
+ *
+ * @example
+ * // Load from URL | 从 URL 加载
+ * await RAPIER.init('wasm/rapier_wasm2d_bg.wasm');
+ *
+ * @example
+ * // Load from fetch response | 从 fetch 响应加载
+ * const response = await fetch('wasm/rapier_wasm2d_bg.wasm');
+ * await RAPIER.init(response);
+ *
+ * @example
+ * // Load from ArrayBuffer | 从 ArrayBuffer 加载
+ * const buffer = await fetch('wasm/rapier_wasm2d_bg.wasm').then(r => r.arrayBuffer());
+ * await RAPIER.init(buffer);
+ */
+export async function init(input?: InitInput): Promise<void> {
+    if (initialized) {
+        return;
+    }
+
+    await wasmInit(input);
+    initialized = true;
+}
+
+/**
+ * Check if RAPIER is already initialized.
+ * 检查 RAPIER 是否已初始化。
+ */
+export function isInitialized(): boolean {
+    return initialized;
+}
diff --git a/thirdparty/rapier.js/rapier-compat/src2d/raw.ts b/thirdparty/rapier.js/rapier-compat/src2d/raw.ts
new file mode 100644
index 00000000..4eadaffa
--- /dev/null
+++ b/thirdparty/rapier.js/rapier-compat/src2d/raw.ts
@@ -0,0 +1 @@
+export * from "../pkg/rapier_wasm2d";
diff --git a/thirdparty/rapier.js/rapier-compat/src3d/init.ts b/thirdparty/rapier.js/rapier-compat/src3d/init.ts
new file mode 100644
index 00000000..15b14ada
--- /dev/null
+++ b/thirdparty/rapier.js/rapier-compat/src3d/init.ts
@@ -0,0 +1,12 @@
+// @ts-ignore
+import wasmBase64 from "../pkg/rapier_wasm3d_bg.wasm";
+import wasmInit from "../pkg/rapier_wasm3d";
+import base64 from "base64-js";
+
+/**
+ * Initializes RAPIER.
+ * Has to be called and awaited before using any library methods.
+ */
+export async function init() {
+    await wasmInit(base64.toByteArray(wasmBase64 as unknown as string).buffer);
+}
diff --git a/thirdparty/rapier.js/rapier-compat/src3d/raw.ts b/thirdparty/rapier.js/rapier-compat/src3d/raw.ts
new file mode 100644
index 00000000..b123ae6b
--- /dev/null
+++ b/thirdparty/rapier.js/rapier-compat/src3d/raw.ts
@@ -0,0 +1 @@
+export * from "../pkg/rapier_wasm3d";
diff --git a/thirdparty/rapier.js/rapier-compat/tests/World2d.test.ts b/thirdparty/rapier.js/rapier-compat/tests/World2d.test.ts
new file mode 100644
index 00000000..45a3bb72
--- /dev/null
+++ b/thirdparty/rapier.js/rapier-compat/tests/World2d.test.ts
@@ -0,0 +1,23 @@
+import {init, Vector2, World} from "../builds/2d-deterministic/pkg";
+
+describe("2d/World", () => {
+    let world: World;
+
+    beforeAll(init);
+
+    afterAll(async () => {
+        await Promise.resolve();
+    });
+
+    beforeEach(() => {
+        world = new World(new Vector2(0, 9.8));
+    });
+
+    afterEach(() => {
+        world.free();
+    });
+
+    test("constructor", () => {
+        expect(world.colliders.len()).toBe(0);
+    });
+});
diff --git a/thirdparty/rapier.js/rapier-compat/tests/World3d.test.ts b/thirdparty/rapier.js/rapier-compat/tests/World3d.test.ts
new file mode 100644
index 00000000..e0ddd546
--- /dev/null
+++ b/thirdparty/rapier.js/rapier-compat/tests/World3d.test.ts
@@ -0,0 +1,23 @@
+import {init, Vector3, World} from "../builds/3d-deterministic/pkg";
+
+describe("3d/World", () => {
+    let world: World;
+
+    beforeAll(init);
+
+    afterAll(async () => {
+        await Promise.resolve();
+    });
+
+    beforeEach(() => {
+        world = new World(new Vector3(0, 9.8, 0));
+    });
+
+    afterEach(() => {
+        world.free();
+    });
+
+    test("constructor", () => {
+        expect(world.colliders.len()).toBe(0);
+    });
+});
diff --git a/thirdparty/rapier.js/rapier-compat/tests/math2d.test.ts b/thirdparty/rapier.js/rapier-compat/tests/math2d.test.ts
new file mode 100644
index 00000000..a7560565
--- /dev/null
+++ b/thirdparty/rapier.js/rapier-compat/tests/math2d.test.ts
@@ -0,0 +1,15 @@
+import {Vector2, VectorOps} from "../builds/2d-deterministic/pkg";
+
+describe("2d/math", () => {
+    test("Vector2", () => {
+        const v = new Vector2(0, 1);
+        expect(v.x).toBe(0);
+        expect(v.y).toBe(1);
+    });
+
+    test("VectorOps", () => {
+        const v = VectorOps.new(0, 1);
+        expect(v.x).toBe(0);
+        expect(v.y).toBe(1);
+    });
+});
diff --git a/thirdparty/rapier.js/rapier-compat/tests/math3d.test.ts b/thirdparty/rapier.js/rapier-compat/tests/math3d.test.ts
new file mode 100644
index 00000000..2ff194cc
--- /dev/null
+++ b/thirdparty/rapier.js/rapier-compat/tests/math3d.test.ts
@@ -0,0 +1,17 @@
+import {Vector3, VectorOps} from "../builds/3d-deterministic/pkg";
+
+describe("3d/math", () => {
+    test("Vector3", () => {
+        const v = new Vector3(0, 1, 2);
+        expect(v.x).toBe(0);
+        expect(v.y).toBe(1);
+        expect(v.z).toBe(2);
+    });
+
+    test("VectorOps", () => {
+        const v = VectorOps.new(0, 1, 2);
+        expect(v.x).toBe(0);
+        expect(v.y).toBe(1);
+        expect(v.z).toBe(2);
+    });
+});
diff --git a/thirdparty/rapier.js/rapier-compat/tsconfig.common.json b/thirdparty/rapier.js/rapier-compat/tsconfig.common.json
new file mode 100644
index 00000000..37bd7d7f
--- /dev/null
+++ b/thirdparty/rapier.js/rapier-compat/tsconfig.common.json
@@ -0,0 +1,15 @@
+{
+    "compilerOptions": {
+        "module": "ES6",
+        "target": "es6",
+        "noEmitOnError": true,
+        "noImplicitAny": true,
+        "noImplicitThis": true,
+        "strictFunctionTypes": true,
+        "lib": ["es6", "DOM"],
+        "moduleResolution": "node",
+        "esModuleInterop": true,
+        "sourceMap": true,
+        "declaration": true
+    }
+}
diff --git a/thirdparty/rapier.js/rapier-compat/tsconfig.json b/thirdparty/rapier.js/rapier-compat/tsconfig.json
new file mode 100644
index 00000000..beeca944
--- /dev/null
+++ b/thirdparty/rapier.js/rapier-compat/tsconfig.json
@@ -0,0 +1,10 @@
+{
+    "extends": "./tsconfig.common.json",
+    "compilerOptions": {
+        "lib": ["es6", "DOM"],
+        "esModuleInterop": true,
+        "types": ["jest"],
+        "outDir": "./dist"
+    },
+    "include": ["./tests/**/*.test.ts"]
+}
diff --git a/thirdparty/rapier.js/rapier-compat/tsconfig.pkg2d.json b/thirdparty/rapier.js/rapier-compat/tsconfig.pkg2d.json
new file mode 100644
index 00000000..77349ed2
--- /dev/null
+++ b/thirdparty/rapier.js/rapier-compat/tsconfig.pkg2d.json
@@ -0,0 +1,8 @@
+{
+    "extends": "./tsconfig.common.json",
+    "compilerOptions": {
+        "rootDir": "./gen2d",
+        "outDir": "./2d"
+    },
+    "files": ["./gen2d/rapier.ts"]
+}
diff --git a/thirdparty/rapier.js/rapier-compat/tsconfig.pkg3d.json b/thirdparty/rapier.js/rapier-compat/tsconfig.pkg3d.json
new file mode 100644
index 00000000..3d7323e8
--- /dev/null
+++ b/thirdparty/rapier.js/rapier-compat/tsconfig.pkg3d.json
@@ -0,0 +1,8 @@
+{
+    "extends": "./tsconfig.common.json",
+    "compilerOptions": {
+        "rootDir": "./gen3d",
+        "outDir": "."
+    },
+    "files": ["./gen3d/rapier.ts"]
+}
diff --git a/thirdparty/rapier.js/src.ts/coarena.ts b/thirdparty/rapier.js/src.ts/coarena.ts
new file mode 100644
index 00000000..9bf978a5
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/coarena.ts
@@ -0,0 +1,70 @@
+export class Coarena<T> {
+    fconv: Float64Array;
+    uconv: Uint32Array;
+    data: Array<T>;
+    size: number;
+
+    public constructor() {
+        this.fconv = new Float64Array(1);
+        this.uconv = new Uint32Array(this.fconv.buffer);
+        this.data = new Array<T>();
+        this.size = 0;
+    }
+
+    public set(handle: number, data: T) {
+        let i = this.index(handle);
+        while (this.data.length <= i) {
+            this.data.push(null);
+        }
+
+        if (this.data[i] == null) this.size += 1;
+        this.data[i] = data;
+    }
+
+    public len(): number {
+        return this.size;
+    }
+
+    public delete(handle: number) {
+        let i = this.index(handle);
+        if (i < this.data.length) {
+            if (this.data[i] != null) this.size -= 1;
+            this.data[i] = null;
+        }
+    }
+
+    public clear() {
+        this.data = new Array<T>();
+    }
+
+    public get(handle: number): T | null {
+        let i = this.index(handle);
+        if (i < this.data.length) {
+            return this.data[i];
+        } else {
+            return null;
+        }
+    }
+
+    public forEach(f: (elt: T) => void) {
+        for (const elt of this.data) {
+            if (elt != null) f(elt);
+        }
+    }
+
+    public getAll(): Array<T> {
+        return this.data.filter((elt) => elt != null);
+    }
+
+    private index(handle: number): number {
+        /// Extracts the index part of a handle (the lower 32 bits).
+        /// This is done by first injecting the handle into an Float64Array
+        /// which is itself injected into an Uint32Array (at construction time).
+        /// The 0-th value of the Uint32Array will become the `number` integer
+        /// representation of the lower 32 bits.
+        /// Also `this.uconv[1]` then contains the generation number as a `number`,
+        /// which we don’t really need.
+        this.fconv[0] = handle;
+        return this.uconv[0];
+    }
+}
diff --git a/thirdparty/rapier.js/src.ts/control/character_controller.ts b/thirdparty/rapier.js/src.ts/control/character_controller.ts
new file mode 100644
index 00000000..8e536392
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/control/character_controller.ts
@@ -0,0 +1,386 @@
+import {RawKinematicCharacterController, RawCharacterCollision} from "../raw";
+import {Rotation, Vector, VectorOps} from "../math";
+import {
+    BroadPhase,
+    Collider,
+    ColliderSet,
+    InteractionGroups,
+    NarrowPhase,
+    Shape,
+} from "../geometry";
+import {QueryFilterFlags, World} from "../pipeline";
+import {IntegrationParameters, RigidBody, RigidBodySet} from "../dynamics";
+
+/**
+ * A collision between the character and an obstacle hit on its path.
+ */
+export class CharacterCollision {
+    /** The collider involved in the collision. Null if the collider no longer exists in the physics world. */
+    public collider: Collider | null;
+    /** The translation delta applied to the character before this collision took place. */
+    public translationDeltaApplied: Vector;
+    /** The translation delta the character would move after this collision if there is no other obstacles. */
+    public translationDeltaRemaining: Vector;
+    /** The time-of-impact between the character and the obstacles. */
+    public toi: number;
+    /** The world-space contact point on the collider when the collision happens. */
+    public witness1: Vector;
+    /** The local-space contact point on the character when the collision happens. */
+    public witness2: Vector;
+    /** The world-space outward contact normal on the collider when the collision happens. */
+    public normal1: Vector;
+    /** The local-space outward contact normal on the character when the collision happens. */
+    public normal2: Vector;
+}
+
+/**
+ * A character controller for controlling kinematic bodies and parentless colliders by hitting
+ * and sliding against obstacles.
+ */
+export class KinematicCharacterController {
+    private raw: RawKinematicCharacterController;
+    private rawCharacterCollision: RawCharacterCollision;
+
+    private params: IntegrationParameters;
+    private broadPhase: BroadPhase;
+    private narrowPhase: NarrowPhase;
+    private bodies: RigidBodySet;
+    private colliders: ColliderSet;
+    private _applyImpulsesToDynamicBodies: boolean;
+    private _characterMass: number | null;
+
+    constructor(
+        offset: number,
+        params: IntegrationParameters,
+        broadPhase: BroadPhase,
+        narrowPhase: NarrowPhase,
+        bodies: RigidBodySet,
+        colliders: ColliderSet,
+    ) {
+        this.params = params;
+        this.bodies = bodies;
+        this.colliders = colliders;
+        this.broadPhase = broadPhase;
+        this.narrowPhase = narrowPhase;
+        this.raw = new RawKinematicCharacterController(offset);
+        this.rawCharacterCollision = new RawCharacterCollision();
+        this._applyImpulsesToDynamicBodies = false;
+        this._characterMass = null;
+    }
+
+    /** @internal */
+    public free() {
+        if (!!this.raw) {
+            this.raw.free();
+            this.rawCharacterCollision.free();
+        }
+
+        this.raw = undefined;
+        this.rawCharacterCollision = undefined;
+    }
+
+    /**
+     * The direction that goes "up". Used to determine where the floor is, and the floor’s angle.
+     */
+    public up(): Vector {
+        return this.raw.up();
+    }
+
+    /**
+     * Sets the direction that goes "up". Used to determine where the floor is, and the floor’s angle.
+     */
+    public setUp(vector: Vector) {
+        let rawVect = VectorOps.intoRaw(vector);
+        return this.raw.setUp(rawVect);
+        rawVect.free();
+    }
+
+    public applyImpulsesToDynamicBodies(): boolean {
+        return this._applyImpulsesToDynamicBodies;
+    }
+
+    public setApplyImpulsesToDynamicBodies(enabled: boolean) {
+        this._applyImpulsesToDynamicBodies = enabled;
+    }
+
+    /**
+     * Returns the custom value of the character mass, if it was set by `this.setCharacterMass`.
+     */
+    public characterMass(): number | null {
+        return this._characterMass;
+    }
+
+    /**
+     * Set the mass of the character to be used for impulse resolution if `self.applyImpulsesToDynamicBodies`
+     * is set to `true`.
+     *
+     * If no character mass is set explicitly (or if it is set to `null`) it is automatically assumed to be equal
+     * to the mass of the rigid-body the character collider is attached to; or equal to 0 if the character collider
+     * isn’t attached to any rigid-body.
+     *
+     * @param mass - The mass to set.
+     */
+    public setCharacterMass(mass: number | null) {
+        this._characterMass = mass;
+    }
+
+    /**
+     * A small gap to preserve between the character and its surroundings.
+     *
+     * This value should not be too large to avoid visual artifacts, but shouldn’t be too small
+     * (must not be zero) to improve numerical stability of the character controller.
+     */
+    public offset(): number {
+        return this.raw.offset();
+    }
+
+    /**
+     * Sets a small gap to preserve between the character and its surroundings.
+     *
+     * This value should not be too large to avoid visual artifacts, but shouldn’t be too small
+     * (must not be zero) to improve numerical stability of the character controller.
+     */
+    public setOffset(value: number) {
+        this.raw.setOffset(value);
+    }
+
+    /// Increase this number if your character appears to get stuck when sliding against surfaces.
+    ///
+    /// This is a small distance applied to the movement toward the contact normals of shapes hit
+    /// by the character controller. This helps shape-casting not getting stuck in an always-penetrating
+    /// state during the sliding calculation.
+    ///
+    /// This value should remain fairly small since it can introduce artificial "bumps" when sliding
+    /// along a flat surface.
+    public normalNudgeFactor(): number {
+        return this.raw.normalNudgeFactor();
+    }
+
+    /// Increase this number if your character appears to get stuck when sliding against surfaces.
+    ///
+    /// This is a small distance applied to the movement toward the contact normals of shapes hit
+    /// by the character controller. This helps shape-casting not getting stuck in an always-penetrating
+    /// state during the sliding calculation.
+    ///
+    /// This value should remain fairly small since it can introduce artificial "bumps" when sliding
+    /// along a flat surface.
+    public setNormalNudgeFactor(value: number) {
+        this.raw.setNormalNudgeFactor(value);
+    }
+
+    /**
+     * Is sliding against obstacles enabled?
+     */
+    public slideEnabled(): boolean {
+        return this.raw.slideEnabled();
+    }
+
+    /**
+     * Enable or disable sliding against obstacles.
+     */
+    public setSlideEnabled(enabled: boolean) {
+        this.raw.setSlideEnabled(enabled);
+    }
+
+    /**
+     * The maximum step height a character can automatically step over.
+     */
+    public autostepMaxHeight(): number | null {
+        return this.raw.autostepMaxHeight();
+    }
+
+    /**
+     * The minimum width of free space that must be available after stepping on a stair.
+     */
+    public autostepMinWidth(): number | null {
+        return this.raw.autostepMinWidth();
+    }
+
+    /**
+     * Can the character automatically step over dynamic bodies too?
+     */
+    public autostepIncludesDynamicBodies(): boolean | null {
+        return this.raw.autostepIncludesDynamicBodies();
+    }
+
+    /**
+     * Is automatically stepping over small objects enabled?
+     */
+    public autostepEnabled(): boolean {
+        return this.raw.autostepEnabled();
+    }
+
+    /**
+     * Enabled automatically stepping over small objects.
+     *
+     * @param maxHeight - The maximum step height a character can automatically step over.
+     * @param minWidth - The minimum width of free space that must be available after stepping on a stair.
+     * @param includeDynamicBodies - Can the character automatically step over dynamic bodies too?
+     */
+    public enableAutostep(
+        maxHeight: number,
+        minWidth: number,
+        includeDynamicBodies: boolean,
+    ) {
+        this.raw.enableAutostep(maxHeight, minWidth, includeDynamicBodies);
+    }
+
+    /**
+     * Disable automatically stepping over small objects.
+     */
+    public disableAutostep() {
+        return this.raw.disableAutostep();
+    }
+
+    /**
+     * The maximum angle (radians) between the floor’s normal and the `up` vector that the
+     * character is able to climb.
+     */
+    public maxSlopeClimbAngle(): number {
+        return this.raw.maxSlopeClimbAngle();
+    }
+
+    /**
+     * Sets the maximum angle (radians) between the floor’s normal and the `up` vector that the
+     * character is able to climb.
+     */
+    public setMaxSlopeClimbAngle(angle: number) {
+        this.raw.setMaxSlopeClimbAngle(angle);
+    }
+
+    /**
+     * The minimum angle (radians) between the floor’s normal and the `up` vector before the
+     * character starts to slide down automatically.
+     */
+    public minSlopeSlideAngle(): number {
+        return this.raw.minSlopeSlideAngle();
+    }
+
+    /**
+     * Sets the minimum angle (radians) between the floor’s normal and the `up` vector before the
+     * character starts to slide down automatically.
+     */
+    public setMinSlopeSlideAngle(angle: number) {
+        this.raw.setMinSlopeSlideAngle(angle);
+    }
+
+    /**
+     * If snap-to-ground is enabled, should the character be automatically snapped to the ground if
+     * the distance between the ground and its feet are smaller than the specified threshold?
+     */
+    public snapToGroundDistance(): number | null {
+        return this.raw.snapToGroundDistance();
+    }
+
+    /**
+     * Enables automatically snapping the character to the ground if the distance between
+     * the ground and its feet are smaller than the specified threshold.
+     */
+    public enableSnapToGround(distance: number) {
+        this.raw.enableSnapToGround(distance);
+    }
+
+    /**
+     * Disables automatically snapping the character to the ground.
+     */
+    public disableSnapToGround() {
+        this.raw.disableSnapToGround();
+    }
+
+    /**
+     * Is automatically snapping the character to the ground enabled?
+     */
+    public snapToGroundEnabled(): boolean {
+        return this.raw.snapToGroundEnabled();
+    }
+
+    /**
+     * Computes the movement the given collider is able to execute after hitting and sliding on obstacles.
+     *
+     * @param collider - The collider to move.
+     * @param desiredTranslationDelta - The desired collider movement.
+     * @param filterFlags - Flags for excluding whole subsets of colliders from the obstacles taken into account.
+     * @param filterGroups - Groups for excluding colliders with incompatible collision groups from the obstacles
+     *                       taken into account.
+     * @param filterPredicate - Any collider for which this closure returns `false` will be excluded from the
+     *                          obstacles taken into account.
+     */
+    public computeColliderMovement(
+        collider: Collider,
+        desiredTranslationDelta: Vector,
+        filterFlags?: QueryFilterFlags,
+        filterGroups?: InteractionGroups,
+        filterPredicate?: (collider: Collider) => boolean,
+    ) {
+        let rawTranslationDelta = VectorOps.intoRaw(desiredTranslationDelta);
+        this.raw.computeColliderMovement(
+            this.params.dt,
+            this.broadPhase.raw,
+            this.narrowPhase.raw,
+            this.bodies.raw,
+            this.colliders.raw,
+            collider.handle,
+            rawTranslationDelta,
+            this._applyImpulsesToDynamicBodies,
+            this._characterMass,
+            filterFlags,
+            filterGroups,
+            this.colliders.castClosure(filterPredicate),
+        );
+        rawTranslationDelta.free();
+    }
+
+    /**
+     * The movement computed by the last call to `this.computeColliderMovement`.
+     */
+    public computedMovement(): Vector {
+        return VectorOps.fromRaw(this.raw.computedMovement());
+    }
+
+    /**
+     * The result of ground detection computed by the last call to `this.computeColliderMovement`.
+     */
+    public computedGrounded(): boolean {
+        return this.raw.computedGrounded();
+    }
+
+    /**
+     * The number of collisions against obstacles detected along the path of the last call
+     * to `this.computeColliderMovement`.
+     */
+    public numComputedCollisions(): number {
+        return this.raw.numComputedCollisions();
+    }
+
+    /**
+     * Returns the collision against one of the obstacles detected along the path of the last
+     * call to `this.computeColliderMovement`.
+     *
+     * @param i - The i-th collision will be returned.
+     * @param out - If this argument is set, it will be filled with the collision information.
+     */
+    public computedCollision(
+        i: number,
+        out?: CharacterCollision,
+    ): CharacterCollision | null {
+        if (!this.raw.computedCollision(i, this.rawCharacterCollision)) {
+            return null;
+        } else {
+            let c = this.rawCharacterCollision;
+            out = out ?? new CharacterCollision();
+            out.translationDeltaApplied = VectorOps.fromRaw(
+                c.translationDeltaApplied(),
+            );
+            out.translationDeltaRemaining = VectorOps.fromRaw(
+                c.translationDeltaRemaining(),
+            );
+            out.toi = c.toi();
+            out.witness1 = VectorOps.fromRaw(c.worldWitness1());
+            out.witness2 = VectorOps.fromRaw(c.worldWitness2());
+            out.normal1 = VectorOps.fromRaw(c.worldNormal1());
+            out.normal2 = VectorOps.fromRaw(c.worldNormal2());
+            out.collider = this.colliders.get(c.handle());
+            return out;
+        }
+    }
+}
diff --git a/thirdparty/rapier.js/src.ts/control/index.ts b/thirdparty/rapier.js/src.ts/control/index.ts
new file mode 100644
index 00000000..43e495a5
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/control/index.ts
@@ -0,0 +1,6 @@
+export * from "./character_controller";
+export * from "./pid_controller";
+
+// #if DIM3
+export * from "./ray_cast_vehicle_controller";
+// #endif
diff --git a/thirdparty/rapier.js/src.ts/control/pid_controller.ts b/thirdparty/rapier.js/src.ts/control/pid_controller.ts
new file mode 100644
index 00000000..52b2f006
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/control/pid_controller.ts
@@ -0,0 +1,207 @@
+import {RawPidController} from "../raw";
+import {Rotation, RotationOps, Vector, VectorOps} from "../math";
+import {Collider, ColliderSet, InteractionGroups, Shape} from "../geometry";
+import {QueryFilterFlags, World} from "../pipeline";
+import {IntegrationParameters, RigidBody, RigidBodySet} from "../dynamics";
+
+// TODO: unify with the JointAxesMask
+/**
+ * An enum representing the possible joint axes controlled by a PidController.
+ * They can be ORed together, like:
+ * PidAxesMask.LinX || PidAxesMask.LinY
+ * to get a pid controller that only constraints the translational X and Y axes.
+ *
+ * Possible axes are:
+ *
+ * - `X`: X translation axis
+ * - `Y`: Y translation axis
+ * - `Z`: Z translation axis
+ * - `AngX`: X angular rotation axis (3D only)
+ * - `AngY`: Y angular rotation axis (3D only)
+ * - `AngZ`: Z angular rotation axis
+ */
+export enum PidAxesMask {
+    None = 0,
+    LinX = 1 << 0,
+    LinY = 1 << 1,
+    LinZ = 1 << 2,
+    // #if DIM3
+    AngX = 1 << 3,
+    AngY = 1 << 4,
+    // #endif
+    AngZ = 1 << 5,
+    // #if DIM2
+    AllLin = PidAxesMask.LinX | PidAxesMask.LinY,
+    AllAng = PidAxesMask.AngZ,
+    // #endif
+    // #if DIM3
+    AllLin = PidAxesMask.LinX | PidAxesMask.LinY | PidAxesMask.LinZ,
+    AllAng = PidAxesMask.AngX | PidAxesMask.AngY | PidAxesMask.AngZ,
+    // #endif
+    All = PidAxesMask.AllLin | PidAxesMask.AllAng,
+}
+
+/**
+ * A controller for controlling dynamic bodies using the
+ * Proportional-Integral-Derivative correction model.
+ */
+export class PidController {
+    private raw: RawPidController;
+
+    private params: IntegrationParameters;
+    private bodies: RigidBodySet;
+
+    constructor(
+        params: IntegrationParameters,
+        bodies: RigidBodySet,
+        kp: number,
+        ki: number,
+        kd: number,
+        axes: PidAxesMask,
+    ) {
+        this.params = params;
+        this.bodies = bodies;
+        this.raw = new RawPidController(kp, ki, kd, axes);
+    }
+
+    /** @internal */
+    public free() {
+        if (!!this.raw) {
+            this.raw.free();
+        }
+
+        this.raw = undefined;
+    }
+
+    public setKp(kp: number, axes: PidAxesMask) {
+        this.raw.set_kp(kp, axes);
+    }
+
+    public setKi(ki: number, axes: PidAxesMask) {
+        this.raw.set_kp(ki, axes);
+    }
+
+    public setKd(kd: number, axes: PidAxesMask) {
+        this.raw.set_kp(kd, axes);
+    }
+
+    public setAxes(axes: PidAxesMask) {
+        this.raw.set_axes_mask(axes);
+    }
+
+    public resetIntegrals() {
+        this.raw.reset_integrals();
+    }
+
+    public applyLinearCorrection(
+        body: RigidBody,
+        targetPosition: Vector,
+        targetLinvel: Vector,
+    ) {
+        let rawPos = VectorOps.intoRaw(targetPosition);
+        let rawVel = VectorOps.intoRaw(targetLinvel);
+        this.raw.apply_linear_correction(
+            this.params.dt,
+            this.bodies.raw,
+            body.handle,
+            rawPos,
+            rawVel,
+        );
+        rawPos.free();
+        rawVel.free();
+    }
+
+    // #if DIM2
+    public applyAngularCorrection(
+        body: RigidBody,
+        targetRotation: number,
+        targetAngVel: number,
+    ) {
+        this.raw.apply_angular_correction(
+            this.params.dt,
+            this.bodies.raw,
+            body.handle,
+            targetRotation,
+            targetAngVel,
+        );
+    }
+    // #endif
+
+    // #if DIM3
+    public applyAngularCorrection(
+        body: RigidBody,
+        targetRotation: Rotation,
+        targetAngVel: Vector,
+    ) {
+        let rawPos = RotationOps.intoRaw(targetRotation);
+        let rawVel = VectorOps.intoRaw(targetAngVel);
+        this.raw.apply_angular_correction(
+            this.params.dt,
+            this.bodies.raw,
+            body.handle,
+            rawPos,
+            rawVel,
+        );
+        rawPos.free();
+        rawVel.free();
+    }
+    // #endif
+
+    public linearCorrection(
+        body: RigidBody,
+        targetPosition: Vector,
+        targetLinvel: Vector,
+    ): Vector {
+        let rawPos = VectorOps.intoRaw(targetPosition);
+        let rawVel = VectorOps.intoRaw(targetLinvel);
+        let correction = this.raw.linear_correction(
+            this.params.dt,
+            this.bodies.raw,
+            body.handle,
+            rawPos,
+            rawVel,
+        );
+        rawPos.free();
+        rawVel.free();
+
+        return VectorOps.fromRaw(correction);
+    }
+
+    // #if DIM2
+    public angularCorrection(
+        body: RigidBody,
+        targetRotation: number,
+        targetAngVel: number,
+    ): number {
+        return this.raw.angular_correction(
+            this.params.dt,
+            this.bodies.raw,
+            body.handle,
+            targetRotation,
+            targetAngVel,
+        );
+    }
+    // #endif
+
+    // #if DIM3
+    public angularCorrection(
+        body: RigidBody,
+        targetRotation: Rotation,
+        targetAngVel: Vector,
+    ): Vector {
+        let rawPos = RotationOps.intoRaw(targetRotation);
+        let rawVel = VectorOps.intoRaw(targetAngVel);
+        let correction = this.raw.angular_correction(
+            this.params.dt,
+            this.bodies.raw,
+            body.handle,
+            rawPos,
+            rawVel,
+        );
+        rawPos.free();
+        rawVel.free();
+
+        return VectorOps.fromRaw(correction);
+    }
+    // #endif
+}
diff --git a/thirdparty/rapier.js/src.ts/control/ray_cast_vehicle_controller.ts b/thirdparty/rapier.js/src.ts/control/ray_cast_vehicle_controller.ts
new file mode 100644
index 00000000..fa65b3e3
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/control/ray_cast_vehicle_controller.ts
@@ -0,0 +1,481 @@
+import {RawDynamicRayCastVehicleController} from "../raw";
+import {Vector, VectorOps} from "../math";
+import {
+    BroadPhase,
+    Collider,
+    ColliderSet,
+    InteractionGroups,
+    NarrowPhase,
+} from "../geometry";
+import {QueryFilterFlags} from "../pipeline";
+import {RigidBody, RigidBodyHandle, RigidBodySet} from "../dynamics";
+
+/**
+ * A character controller to simulate vehicles using ray-casting for the wheels.
+ */
+export class DynamicRayCastVehicleController {
+    private raw: RawDynamicRayCastVehicleController;
+    private broadPhase: BroadPhase;
+    private narrowPhase: NarrowPhase;
+    private bodies: RigidBodySet;
+    private colliders: ColliderSet;
+    private _chassis: RigidBody;
+
+    constructor(
+        chassis: RigidBody,
+        broadPhase: BroadPhase,
+        narrowPhase: NarrowPhase,
+        bodies: RigidBodySet,
+        colliders: ColliderSet,
+    ) {
+        this.raw = new RawDynamicRayCastVehicleController(chassis.handle);
+        this.broadPhase = broadPhase;
+        this.narrowPhase = narrowPhase;
+        this.bodies = bodies;
+        this.colliders = colliders;
+        this._chassis = chassis;
+    }
+
+    /** @internal */
+    public free() {
+        if (!!this.raw) {
+            this.raw.free();
+        }
+
+        this.raw = undefined;
+    }
+
+    /**
+     * Updates the vehicle’s velocity based on its suspension, engine force, and brake.
+     *
+     * This directly updates the velocity of its chassis rigid-body.
+     *
+     * @param dt - Time increment used to integrate forces.
+     * @param filterFlags - Flag to exclude categories of objects from the wheels’ ray-cast.
+     * @param filterGroups - Only colliders compatible with these groups will be hit by the wheels’ ray-casts.
+     * @param filterPredicate - Callback to filter out which collider will be hit by the wheels’ ray-casts.
+     */
+    public updateVehicle(
+        dt: number,
+        filterFlags?: QueryFilterFlags,
+        filterGroups?: InteractionGroups,
+        filterPredicate?: (collider: Collider) => boolean,
+    ) {
+        this.raw.update_vehicle(
+            dt,
+            this.broadPhase.raw,
+            this.narrowPhase.raw,
+            this.bodies.raw,
+            this.colliders.raw,
+            filterFlags,
+            filterGroups,
+            this.colliders.castClosure(filterPredicate),
+        );
+    }
+
+    /**
+     * The current forward speed of the vehicle.
+     */
+    public currentVehicleSpeed(): number {
+        return this.raw.current_vehicle_speed();
+    }
+
+    /**
+     * The rigid-body used as the chassis.
+     */
+    public chassis(): RigidBody {
+        return this._chassis;
+    }
+
+    /**
+     * The chassis’ local _up_ direction (`0 = x, 1 = y, 2 = z`).
+     */
+    get indexUpAxis(): number {
+        return this.raw.index_up_axis();
+    }
+
+    /**
+     * Sets the chassis’ local _up_ direction (`0 = x, 1 = y, 2 = z`).
+     */
+    set indexUpAxis(axis: number) {
+        this.raw.set_index_up_axis(axis);
+    }
+
+    /**
+     * The chassis’ local _forward_ direction (`0 = x, 1 = y, 2 = z`).
+     */
+    get indexForwardAxis(): number {
+        return this.raw.index_forward_axis();
+    }
+
+    /**
+     * Sets the chassis’ local _forward_ direction (`0 = x, 1 = y, 2 = z`).
+     */
+    set setIndexForwardAxis(axis: number) {
+        this.raw.set_index_forward_axis(axis);
+    }
+
+    /**
+     * Adds a new wheel attached to this vehicle.
+     * @param chassisConnectionCs  - The position of the wheel relative to the chassis.
+     * @param directionCs - The direction of the wheel’s suspension, relative to the chassis. The ray-casting will
+     *                      happen following this direction to detect the ground.
+     * @param axleCs - The wheel’s axle axis, relative to the chassis.
+     * @param suspensionRestLength - The rest length of the wheel’s suspension spring.
+     * @param radius - The wheel’s radius.
+     */
+    public addWheel(
+        chassisConnectionCs: Vector,
+        directionCs: Vector,
+        axleCs: Vector,
+        suspensionRestLength: number,
+        radius: number,
+    ) {
+        let rawChassisConnectionCs = VectorOps.intoRaw(chassisConnectionCs);
+        let rawDirectionCs = VectorOps.intoRaw(directionCs);
+        let rawAxleCs = VectorOps.intoRaw(axleCs);
+
+        this.raw.add_wheel(
+            rawChassisConnectionCs,
+            rawDirectionCs,
+            rawAxleCs,
+            suspensionRestLength,
+            radius,
+        );
+
+        rawChassisConnectionCs.free();
+        rawDirectionCs.free();
+        rawAxleCs.free();
+    }
+
+    /**
+     * The number of wheels attached to this vehicle.
+     */
+    public numWheels(): number {
+        return this.raw.num_wheels();
+    }
+
+    /*
+     *
+     * Access to wheel properties.
+     *
+     */
+    /*
+     * Getters + setters
+     */
+    /**
+     * The position of the i-th wheel, relative to the chassis.
+     */
+    public wheelChassisConnectionPointCs(i: number): Vector | null {
+        return VectorOps.fromRaw(this.raw.wheel_chassis_connection_point_cs(i));
+    }
+
+    /**
+     * Sets the position of the i-th wheel, relative to the chassis.
+     */
+    public setWheelChassisConnectionPointCs(i: number, value: Vector) {
+        let rawValue = VectorOps.intoRaw(value);
+        this.raw.set_wheel_chassis_connection_point_cs(i, rawValue);
+        rawValue.free();
+    }
+
+    /**
+     * The rest length of the i-th wheel’s suspension spring.
+     */
+    public wheelSuspensionRestLength(i: number): number | null {
+        return this.raw.wheel_suspension_rest_length(i);
+    }
+
+    /**
+     * Sets the rest length of the i-th wheel’s suspension spring.
+     */
+    public setWheelSuspensionRestLength(i: number, value: number) {
+        this.raw.set_wheel_suspension_rest_length(i, value);
+    }
+
+    /**
+     * The maximum distance the i-th wheel suspension can travel before and after its resting length.
+     */
+    public wheelMaxSuspensionTravel(i: number): number | null {
+        return this.raw.wheel_max_suspension_travel(i);
+    }
+
+    /**
+     * Sets the maximum distance the i-th wheel suspension can travel before and after its resting length.
+     */
+    public setWheelMaxSuspensionTravel(i: number, value: number) {
+        this.raw.set_wheel_max_suspension_travel(i, value);
+    }
+
+    /**
+     * The i-th wheel’s radius.
+     */
+    public wheelRadius(i: number): number | null {
+        return this.raw.wheel_radius(i);
+    }
+
+    /**
+     * Sets the i-th wheel’s radius.
+     */
+    public setWheelRadius(i: number, value: number) {
+        this.raw.set_wheel_radius(i, value);
+    }
+
+    /**
+     * The i-th wheel’s suspension stiffness.
+     *
+     * Increase this value if the suspension appears to not push the vehicle strong enough.
+     */
+    public wheelSuspensionStiffness(i: number): number | null {
+        return this.raw.wheel_suspension_stiffness(i);
+    }
+
+    /**
+     * Sets the i-th wheel’s suspension stiffness.
+     *
+     * Increase this value if the suspension appears to not push the vehicle strong enough.
+     */
+    public setWheelSuspensionStiffness(i: number, value: number) {
+        this.raw.set_wheel_suspension_stiffness(i, value);
+    }
+
+    /**
+     * The i-th wheel’s suspension’s damping when it is being compressed.
+     */
+    public wheelSuspensionCompression(i: number): number | null {
+        return this.raw.wheel_suspension_compression(i);
+    }
+
+    /**
+     * The i-th wheel’s suspension’s damping when it is being compressed.
+     */
+    public setWheelSuspensionCompression(i: number, value: number) {
+        this.raw.set_wheel_suspension_compression(i, value);
+    }
+
+    /**
+     * The i-th wheel’s suspension’s damping when it is being released.
+     *
+     * Increase this value if the suspension appears to overshoot.
+     */
+    public wheelSuspensionRelaxation(i: number): number | null {
+        return this.raw.wheel_suspension_relaxation(i);
+    }
+
+    /**
+     * Sets the i-th wheel’s suspension’s damping when it is being released.
+     *
+     * Increase this value if the suspension appears to overshoot.
+     */
+    public setWheelSuspensionRelaxation(i: number, value: number) {
+        this.raw.set_wheel_suspension_relaxation(i, value);
+    }
+
+    /**
+     * The maximum force applied by the i-th wheel’s suspension.
+     */
+    public wheelMaxSuspensionForce(i: number): number | null {
+        return this.raw.wheel_max_suspension_force(i);
+    }
+
+    /**
+     * Sets the maximum force applied by the i-th wheel’s suspension.
+     */
+    public setWheelMaxSuspensionForce(i: number, value: number) {
+        this.raw.set_wheel_max_suspension_force(i, value);
+    }
+
+    /**
+     * The maximum amount of braking impulse applied on the i-th wheel to slow down the vehicle.
+     */
+    public wheelBrake(i: number): number | null {
+        return this.raw.wheel_brake(i);
+    }
+
+    /**
+     * Set the maximum amount of braking impulse applied on the i-th wheel to slow down the vehicle.
+     */
+    public setWheelBrake(i: number, value: number) {
+        this.raw.set_wheel_brake(i, value);
+    }
+
+    /**
+     * The steering angle (radians) for the i-th wheel.
+     */
+    public wheelSteering(i: number): number | null {
+        return this.raw.wheel_steering(i);
+    }
+
+    /**
+     * Sets the steering angle (radians) for the i-th wheel.
+     */
+    public setWheelSteering(i: number, value: number) {
+        this.raw.set_wheel_steering(i, value);
+    }
+
+    /**
+     * The forward force applied by the i-th wheel on the chassis.
+     */
+    public wheelEngineForce(i: number): number | null {
+        return this.raw.wheel_engine_force(i);
+    }
+
+    /**
+     * Sets the forward force applied by the i-th wheel on the chassis.
+     */
+    public setWheelEngineForce(i: number, value: number) {
+        this.raw.set_wheel_engine_force(i, value);
+    }
+
+    /**
+     * The direction of the i-th wheel’s suspension, relative to the chassis.
+     *
+     * The ray-casting will happen following this direction to detect the ground.
+     */
+    public wheelDirectionCs(i: number): Vector | null {
+        return VectorOps.fromRaw(this.raw.wheel_direction_cs(i));
+    }
+
+    /**
+     * Sets the direction of the i-th wheel’s suspension, relative to the chassis.
+     *
+     * The ray-casting will happen following this direction to detect the ground.
+     */
+    public setWheelDirectionCs(i: number, value: Vector) {
+        let rawValue = VectorOps.intoRaw(value);
+        this.raw.set_wheel_direction_cs(i, rawValue);
+        rawValue.free();
+    }
+
+    /**
+     * The i-th wheel’s axle axis, relative to the chassis.
+     *
+     * The axis index defined as 0 = X, 1 = Y, 2 = Z.
+     */
+    public wheelAxleCs(i: number): Vector | null {
+        return VectorOps.fromRaw(this.raw.wheel_axle_cs(i));
+    }
+
+    /**
+     * Sets the i-th wheel’s axle axis, relative to the chassis.
+     *
+     * The axis index defined as 0 = X, 1 = Y, 2 = Z.
+     */
+    public setWheelAxleCs(i: number, value: Vector) {
+        let rawValue = VectorOps.intoRaw(value);
+        this.raw.set_wheel_axle_cs(i, rawValue);
+        rawValue.free();
+    }
+
+    /**
+     * Parameter controlling how much traction the tire has.
+     *
+     * The larger the value, the more instantaneous braking will happen (with the risk of
+     * causing the vehicle to flip if it’s too strong).
+     */
+    public wheelFrictionSlip(i: number): number | null {
+        return this.raw.wheel_friction_slip(i);
+    }
+
+    /**
+     * Sets the parameter controlling how much traction the tire has.
+     *
+     * The larger the value, the more instantaneous braking will happen (with the risk of
+     * causing the vehicle to flip if it’s too strong).
+     */
+    public setWheelFrictionSlip(i: number, value: number) {
+        this.raw.set_wheel_friction_slip(i, value);
+    }
+
+    /**
+     * The multiplier of friction between a tire and the collider it’s on top of.
+     *
+     * The larger the value, the stronger side friction will be.
+     */
+    public wheelSideFrictionStiffness(i: number): number | null {
+        return this.raw.wheel_side_friction_stiffness(i);
+    }
+
+    /**
+     * The multiplier of friction between a tire and the collider it’s on top of.
+     *
+     * The larger the value, the stronger side friction will be.
+     */
+    public setWheelSideFrictionStiffness(i: number, value: number) {
+        this.raw.set_wheel_side_friction_stiffness(i, value);
+    }
+
+    /*
+     * Getters only.
+     */
+
+    /**
+     *  The i-th wheel’s current rotation angle (radians) on its axle.
+     */
+    public wheelRotation(i: number): number | null {
+        return this.raw.wheel_rotation(i);
+    }
+
+    /**
+     *  The forward impulses applied by the i-th wheel on the chassis.
+     */
+    public wheelForwardImpulse(i: number): number | null {
+        return this.raw.wheel_forward_impulse(i);
+    }
+
+    /**
+     *  The side impulses applied by the i-th wheel on the chassis.
+     */
+    public wheelSideImpulse(i: number): number | null {
+        return this.raw.wheel_side_impulse(i);
+    }
+
+    /**
+     *  The force applied by the i-th wheel suspension.
+     */
+    public wheelSuspensionForce(i: number): number | null {
+        return this.raw.wheel_suspension_force(i);
+    }
+
+    /**
+     *  The (world-space) contact normal between the i-th wheel and the floor.
+     */
+    public wheelContactNormal(i: number): Vector | null {
+        return VectorOps.fromRaw(this.raw.wheel_contact_normal_ws(i));
+    }
+
+    /**
+     *  The (world-space) point hit by the wheel’s ray-cast for the i-th wheel.
+     */
+    public wheelContactPoint(i: number): Vector | null {
+        return VectorOps.fromRaw(this.raw.wheel_contact_point_ws(i));
+    }
+
+    /**
+     *  The suspension length for the i-th wheel.
+     */
+    public wheelSuspensionLength(i: number): number | null {
+        return this.raw.wheel_suspension_length(i);
+    }
+
+    /**
+     *  The (world-space) starting point of the ray-cast for the i-th wheel.
+     */
+    public wheelHardPoint(i: number): Vector | null {
+        return VectorOps.fromRaw(this.raw.wheel_hard_point_ws(i));
+    }
+
+    /**
+     *  Is the i-th wheel in contact with the ground?
+     */
+    public wheelIsInContact(i: number): boolean {
+        return this.raw.wheel_is_in_contact(i);
+    }
+
+    /**
+     *  The collider hit by the ray-cast for the i-th wheel.
+     */
+    public wheelGroundObject(i: number): Collider | null {
+        return this.colliders.get(this.raw.wheel_ground_object(i));
+    }
+}
diff --git a/thirdparty/rapier.js/src.ts/dynamics/ccd_solver.ts b/thirdparty/rapier.js/src.ts/dynamics/ccd_solver.ts
new file mode 100644
index 00000000..7f794222
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/dynamics/ccd_solver.ts
@@ -0,0 +1,25 @@
+import {RawCCDSolver} from "../raw";
+
+/**
+ * The CCD solver responsible for resolving Continuous Collision Detection.
+ *
+ * To avoid leaking WASM resources, this MUST be freed manually with `ccdSolver.free()`
+ * once you are done using it.
+ */
+export class CCDSolver {
+    raw: RawCCDSolver;
+
+    /**
+     * Release the WASM memory occupied by this narrow-phase.
+     */
+    public free() {
+        if (!!this.raw) {
+            this.raw.free();
+        }
+        this.raw = undefined;
+    }
+
+    constructor(raw?: RawCCDSolver) {
+        this.raw = raw || new RawCCDSolver();
+    }
+}
diff --git a/thirdparty/rapier.js/src.ts/dynamics/coefficient_combine_rule.ts b/thirdparty/rapier.js/src.ts/dynamics/coefficient_combine_rule.ts
new file mode 100644
index 00000000..680b402a
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/dynamics/coefficient_combine_rule.ts
@@ -0,0 +1,13 @@
+/**
+ * A rule applied to combine coefficients.
+ *
+ * Use this when configuring the `ColliderDesc` to specify
+ * how friction and restitution coefficient should be combined
+ * in a contact.
+ */
+export enum CoefficientCombineRule {
+    Average = 0,
+    Min = 1,
+    Multiply = 2,
+    Max = 3,
+}
diff --git a/thirdparty/rapier.js/src.ts/dynamics/impulse_joint.ts b/thirdparty/rapier.js/src.ts/dynamics/impulse_joint.ts
new file mode 100644
index 00000000..0c637ddf
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/dynamics/impulse_joint.ts
@@ -0,0 +1,681 @@
+import {Rotation, Vector, VectorOps, RotationOps} from "../math";
+import {
+    RawGenericJoint,
+    RawImpulseJointSet,
+    RawRigidBodySet,
+    RawJointAxis,
+    RawJointType,
+    RawMotorModel,
+} from "../raw";
+import {RigidBody, RigidBodyHandle} from "./rigid_body";
+import {RigidBodySet} from "./rigid_body_set";
+// #if DIM3
+import {Quaternion} from "../math";
+// #endif
+
+/**
+ * The integer identifier of a collider added to a `ColliderSet`.
+ */
+export type ImpulseJointHandle = number;
+
+/**
+ * An enum grouping all possible types of joints:
+ *
+ * - `Revolute`: A revolute joint that removes all degrees of freedom between the affected
+ *               bodies except for the rotation along one axis.
+ * - `Fixed`: A fixed joint that removes all relative degrees of freedom between the affected bodies.
+ * - `Prismatic`: A prismatic joint that removes all degrees of freedom between the affected
+ *                bodies except for the translation along one axis.
+ * - `Spherical`: (3D only) A spherical joint that removes all relative linear degrees of freedom between the affected bodies.
+ * - `Generic`: (3D only) A joint with customizable degrees of freedom, allowing any of the 6 axes to be locked.
+ */
+export enum JointType {
+    Revolute,
+    Fixed,
+    Prismatic,
+    Rope,
+    Spring,
+    // #if DIM3
+    Spherical,
+    Generic,
+    // #endif
+}
+
+export enum MotorModel {
+    AccelerationBased,
+    ForceBased,
+}
+
+/**
+ * An enum representing the possible joint axes of a generic joint.
+ * They can be ORed together, like:
+ * JointAxesMask.LinX || JointAxesMask.LinY
+ * to get a joint that is only free in the X and Y translational (positional) axes.
+ *
+ * Possible free axes are:
+ *
+ * - `X`: X translation axis
+ * - `Y`: Y translation axis
+ * - `Z`: Z translation axis
+ * - `AngX`: X angular rotation axis
+ * - `AngY`: Y angular rotations axis
+ * - `AngZ`: Z angular rotation axis
+ */
+export enum JointAxesMask {
+    LinX = 1 << 0,
+    LinY = 1 << 1,
+    LinZ = 1 << 2,
+    AngX = 1 << 3,
+    AngY = 1 << 4,
+    AngZ = 1 << 5,
+}
+
+export class ImpulseJoint {
+    protected rawSet: RawImpulseJointSet; // The ImpulseJoint won't need to free this.
+    protected bodySet: RigidBodySet; // The ImpulseJoint won’t need to free this.
+    handle: ImpulseJointHandle;
+
+    constructor(
+        rawSet: RawImpulseJointSet,
+        bodySet: RigidBodySet,
+        handle: ImpulseJointHandle,
+    ) {
+        this.rawSet = rawSet;
+        this.bodySet = bodySet;
+        this.handle = handle;
+    }
+
+    public static newTyped(
+        rawSet: RawImpulseJointSet,
+        bodySet: RigidBodySet,
+        handle: ImpulseJointHandle,
+    ): ImpulseJoint {
+        switch (rawSet.jointType(handle)) {
+            case RawJointType.Revolute:
+                return new RevoluteImpulseJoint(rawSet, bodySet, handle);
+            case RawJointType.Prismatic:
+                return new PrismaticImpulseJoint(rawSet, bodySet, handle);
+            case RawJointType.Fixed:
+                return new FixedImpulseJoint(rawSet, bodySet, handle);
+            case RawJointType.Spring:
+                return new SpringImpulseJoint(rawSet, bodySet, handle);
+            case RawJointType.Rope:
+                return new RopeImpulseJoint(rawSet, bodySet, handle);
+            // #if DIM3
+            case RawJointType.Spherical:
+                return new SphericalImpulseJoint(rawSet, bodySet, handle);
+            case RawJointType.Generic:
+                return new GenericImpulseJoint(rawSet, bodySet, handle);
+            // #endif
+            default:
+                return new ImpulseJoint(rawSet, bodySet, handle);
+        }
+    }
+
+    /** @internal */
+    public finalizeDeserialization(bodySet: RigidBodySet) {
+        this.bodySet = bodySet;
+    }
+
+    /**
+     * Checks if this joint is still valid (i.e. that it has
+     * not been deleted from the joint set yet).
+     */
+    public isValid(): boolean {
+        return this.rawSet.contains(this.handle);
+    }
+
+    /**
+     * The first rigid-body this joint it attached to.
+     */
+    public body1(): RigidBody {
+        return this.bodySet.get(this.rawSet.jointBodyHandle1(this.handle));
+    }
+
+    /**
+     * The second rigid-body this joint is attached to.
+     */
+    public body2(): RigidBody {
+        return this.bodySet.get(this.rawSet.jointBodyHandle2(this.handle));
+    }
+
+    /**
+     * The type of this joint given as a string.
+     */
+    public type(): JointType {
+        return this.rawSet.jointType(this.handle) as number as JointType;
+    }
+
+    // #if DIM3
+    /**
+     * The rotation quaternion that aligns this joint's first local axis to the `x` axis.
+     */
+    public frameX1(): Rotation {
+        return RotationOps.fromRaw(this.rawSet.jointFrameX1(this.handle));
+    }
+
+    // #endif
+
+    // #if DIM3
+    /**
+     * The rotation matrix that aligns this joint's second local axis to the `x` axis.
+     */
+    public frameX2(): Rotation {
+        return RotationOps.fromRaw(this.rawSet.jointFrameX2(this.handle));
+    }
+
+    // #endif
+
+    /**
+     * The position of the first anchor of this joint.
+     *
+     * The first anchor gives the position of the application point on the
+     * local frame of the first rigid-body it is attached to.
+     */
+    public anchor1(): Vector {
+        return VectorOps.fromRaw(this.rawSet.jointAnchor1(this.handle));
+    }
+
+    /**
+     * The position of the second anchor of this joint.
+     *
+     * The second anchor gives the position of the application point on the
+     * local frame of the second rigid-body it is attached to.
+     */
+    public anchor2(): Vector {
+        return VectorOps.fromRaw(this.rawSet.jointAnchor2(this.handle));
+    }
+
+    /**
+     * Sets the position of the first anchor of this joint.
+     *
+     * The first anchor gives the position of the application point on the
+     * local frame of the first rigid-body it is attached to.
+     */
+    public setAnchor1(newPos: Vector) {
+        const rawPoint = VectorOps.intoRaw(newPos);
+        this.rawSet.jointSetAnchor1(this.handle, rawPoint);
+        rawPoint.free();
+    }
+
+    /**
+     * Sets the position of the second anchor of this joint.
+     *
+     * The second anchor gives the position of the application point on the
+     * local frame of the second rigid-body it is attached to.
+     */
+    public setAnchor2(newPos: Vector) {
+        const rawPoint = VectorOps.intoRaw(newPos);
+        this.rawSet.jointSetAnchor2(this.handle, rawPoint);
+        rawPoint.free();
+    }
+
+    /**
+     * Controls whether contacts are computed between colliders attached
+     * to the rigid-bodies linked by this joint.
+     */
+    public setContactsEnabled(enabled: boolean) {
+        this.rawSet.jointSetContactsEnabled(this.handle, enabled);
+    }
+
+    /**
+     * Indicates if contacts are enabled between colliders attached
+     * to the rigid-bodies linked by this joint.
+     */
+    public contactsEnabled(): boolean {
+        return this.rawSet.jointContactsEnabled(this.handle);
+    }
+}
+
+export class UnitImpulseJoint extends ImpulseJoint {
+    /**
+     * The axis left free by this joint.
+     */
+    protected rawAxis?(): RawJointAxis;
+
+    /**
+     * Are the limits enabled for this joint?
+     */
+    public limitsEnabled(): boolean {
+        return this.rawSet.jointLimitsEnabled(this.handle, this.rawAxis());
+    }
+
+    /**
+     * The min limit of this joint.
+     */
+    public limitsMin(): number {
+        return this.rawSet.jointLimitsMin(this.handle, this.rawAxis());
+    }
+
+    /**
+     * The max limit of this joint.
+     */
+    public limitsMax(): number {
+        return this.rawSet.jointLimitsMax(this.handle, this.rawAxis());
+    }
+
+    /**
+     * Sets the limits of this joint.
+     *
+     * @param min - The minimum bound of this joint’s free coordinate.
+     * @param max - The maximum bound of this joint’s free coordinate.
+     */
+    public setLimits(min: number, max: number) {
+        this.rawSet.jointSetLimits(this.handle, this.rawAxis(), min, max);
+    }
+
+    public configureMotorModel(model: MotorModel) {
+        this.rawSet.jointConfigureMotorModel(
+            this.handle,
+            this.rawAxis(),
+            model as number as RawMotorModel,
+        );
+    }
+
+    public configureMotorVelocity(targetVel: number, factor: number) {
+        this.rawSet.jointConfigureMotorVelocity(
+            this.handle,
+            this.rawAxis(),
+            targetVel,
+            factor,
+        );
+    }
+
+    public configureMotorPosition(
+        targetPos: number,
+        stiffness: number,
+        damping: number,
+    ) {
+        this.rawSet.jointConfigureMotorPosition(
+            this.handle,
+            this.rawAxis(),
+            targetPos,
+            stiffness,
+            damping,
+        );
+    }
+
+    public configureMotor(
+        targetPos: number,
+        targetVel: number,
+        stiffness: number,
+        damping: number,
+    ) {
+        this.rawSet.jointConfigureMotor(
+            this.handle,
+            this.rawAxis(),
+            targetPos,
+            targetVel,
+            stiffness,
+            damping,
+        );
+    }
+}
+
+export class FixedImpulseJoint extends ImpulseJoint {}
+
+export class RopeImpulseJoint extends ImpulseJoint {}
+
+export class SpringImpulseJoint extends ImpulseJoint {}
+
+export class PrismaticImpulseJoint extends UnitImpulseJoint {
+    public rawAxis(): RawJointAxis {
+        return RawJointAxis.LinX;
+    }
+}
+
+export class RevoluteImpulseJoint extends UnitImpulseJoint {
+    public rawAxis(): RawJointAxis {
+        return RawJointAxis.AngX;
+    }
+}
+
+// #if DIM3
+export class GenericImpulseJoint extends ImpulseJoint {}
+
+export class SphericalImpulseJoint extends ImpulseJoint {
+    /* Unsupported by this alpha release.
+    public configureMotorModel(model: MotorModel) {
+        this.rawSet.jointConfigureMotorModel(this.handle, model);
+    }
+
+    public configureMotorVelocity(targetVel: Vector, factor: number) {
+        this.rawSet.jointConfigureBallMotorVelocity(this.handle, targetVel.x, targetVel.y, targetVel.z, factor);
+    }
+
+    public configureMotorPosition(targetPos: Quaternion, stiffness: number, damping: number) {
+        this.rawSet.jointConfigureBallMotorPosition(this.handle, targetPos.w, targetPos.x, targetPos.y, targetPos.z, stiffness, damping);
+    }
+
+    public configureMotor(targetPos: Quaternion, targetVel: Vector, stiffness: number, damping: number) {
+        this.rawSet.jointConfigureBallMotor(this.handle,
+            targetPos.w, targetPos.x, targetPos.y, targetPos.z,
+            targetVel.x, targetVel.y, targetVel.z,
+            stiffness, damping);
+    }
+     */
+}
+// #endif
+
+export class JointData {
+    anchor1: Vector;
+    anchor2: Vector;
+    axis: Vector;
+    frame1: Rotation;
+    frame2: Rotation;
+    jointType: JointType;
+    limitsEnabled: boolean;
+    limits: Array<number>;
+    axesMask: JointAxesMask;
+    stiffness: number;
+    damping: number;
+    length: number;
+
+    private constructor() {}
+
+    /**
+     * Creates a new joint descriptor that builds a Fixed joint.
+     *
+     * A fixed joint removes all the degrees of freedom between the affected bodies, ensuring their
+     * anchor and local frames coincide in world-space.
+     *
+     * @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the
+     *                  local-space of the rigid-body.
+     * @param frame1 - The reference orientation of the joint wrt. the first rigid-body.
+     * @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the
+     *                  local-space of the rigid-body.
+     * @param frame2 - The reference orientation of the joint wrt. the second rigid-body.
+     */
+    public static fixed(
+        anchor1: Vector,
+        frame1: Rotation,
+        anchor2: Vector,
+        frame2: Rotation,
+    ): JointData {
+        let res = new JointData();
+        res.anchor1 = anchor1;
+        res.anchor2 = anchor2;
+        res.frame1 = frame1;
+        res.frame2 = frame2;
+        res.jointType = JointType.Fixed;
+        return res;
+    }
+
+    public static spring(
+        rest_length: number,
+        stiffness: number,
+        damping: number,
+        anchor1: Vector,
+        anchor2: Vector,
+    ): JointData {
+        let res = new JointData();
+        res.anchor1 = anchor1;
+        res.anchor2 = anchor2;
+        res.length = rest_length;
+        res.stiffness = stiffness;
+        res.damping = damping;
+        res.jointType = JointType.Spring;
+        return res;
+    }
+
+    public static rope(
+        length: number,
+        anchor1: Vector,
+        anchor2: Vector,
+    ): JointData {
+        let res = new JointData();
+        res.anchor1 = anchor1;
+        res.anchor2 = anchor2;
+        res.length = length;
+        res.jointType = JointType.Rope;
+        return res;
+    }
+
+    // #if DIM2
+
+    /**
+     * Create a new joint descriptor that builds revolute joints.
+     *
+     * A revolute joint allows three relative rotational degrees of freedom
+     * by preventing any relative translation between the anchors of the
+     * two attached rigid-bodies.
+     *
+     * @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the
+     *                  local-space of the rigid-body.
+     * @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the
+     *                  local-space of the rigid-body.
+     */
+    public static revolute(anchor1: Vector, anchor2: Vector): JointData {
+        let res = new JointData();
+        res.anchor1 = anchor1;
+        res.anchor2 = anchor2;
+        res.jointType = JointType.Revolute;
+        return res;
+    }
+
+    /**
+     * Creates a new joint descriptor that builds a Prismatic joint.
+     *
+     * A prismatic joint removes all the degrees of freedom between the
+     * affected bodies, except for the translation along one axis.
+     *
+     * @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the
+     *                  local-space of the rigid-body.
+     * @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the
+     *                  local-space of the rigid-body.
+     * @param axis - Axis of the joint, expressed in the local-space of the rigid-bodies it is attached to.
+     */
+    public static prismatic(
+        anchor1: Vector,
+        anchor2: Vector,
+        axis: Vector,
+    ): JointData {
+        let res = new JointData();
+        res.anchor1 = anchor1;
+        res.anchor2 = anchor2;
+        res.axis = axis;
+        res.jointType = JointType.Prismatic;
+        return res;
+    }
+
+    // #endif
+
+    // #if DIM3
+    /**
+     * Create a new joint descriptor that builds generic joints.
+     *
+     * A generic joint allows customizing its degrees of freedom
+     * by supplying a mask of the joint axes that should remain locked.
+     *
+     * @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the
+     *                  local-space of the rigid-body.
+     * @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the
+     *                  local-space of the rigid-body.
+     * @param axis - The X axis of the joint, expressed in the local-space of the rigid-bodies it is attached to.
+     * @param axesMask - Mask representing the locked axes of the joint. You can use logical OR to select these from
+     *                   the JointAxesMask enum. For example, passing (JointAxesMask.AngX || JointAxesMask.AngY) will
+     *                   create a joint locked in the X and Y rotational axes.
+     */
+    public static generic(
+        anchor1: Vector,
+        anchor2: Vector,
+        axis: Vector,
+        axesMask: JointAxesMask,
+    ): JointData {
+        let res = new JointData();
+        res.anchor1 = anchor1;
+        res.anchor2 = anchor2;
+        res.axis = axis;
+        res.axesMask = axesMask;
+        res.jointType = JointType.Generic;
+        return res;
+    }
+
+    /**
+     * Create a new joint descriptor that builds spherical joints.
+     *
+     * A spherical joint allows three relative rotational degrees of freedom
+     * by preventing any relative translation between the anchors of the
+     * two attached rigid-bodies.
+     *
+     * @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the
+     *                  local-space of the rigid-body.
+     * @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the
+     *                  local-space of the rigid-body.
+     */
+    public static spherical(anchor1: Vector, anchor2: Vector): JointData {
+        let res = new JointData();
+        res.anchor1 = anchor1;
+        res.anchor2 = anchor2;
+        res.jointType = JointType.Spherical;
+        return res;
+    }
+
+    /**
+     * Creates a new joint descriptor that builds a Prismatic joint.
+     *
+     * A prismatic joint removes all the degrees of freedom between the
+     * affected bodies, except for the translation along one axis.
+     *
+     * @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the
+     *                  local-space of the rigid-body.
+     * @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the
+     *                  local-space of the rigid-body.
+     * @param axis - Axis of the joint, expressed in the local-space of the rigid-bodies it is attached to.
+     */
+    public static prismatic(
+        anchor1: Vector,
+        anchor2: Vector,
+        axis: Vector,
+    ): JointData {
+        let res = new JointData();
+        res.anchor1 = anchor1;
+        res.anchor2 = anchor2;
+        res.axis = axis;
+        res.jointType = JointType.Prismatic;
+        return res;
+    }
+
+    /**
+     * Create a new joint descriptor that builds Revolute joints.
+     *
+     * A revolute joint removes all degrees of freedom between the affected
+     * bodies except for the rotation along one axis.
+     *
+     * @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the
+     *                  local-space of the rigid-body.
+     * @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the
+     *                  local-space of the rigid-body.
+     * @param axis - Axis of the joint, expressed in the local-space of the rigid-bodies it is attached to.
+     */
+    public static revolute(
+        anchor1: Vector,
+        anchor2: Vector,
+        axis: Vector,
+    ): JointData {
+        let res = new JointData();
+        res.anchor1 = anchor1;
+        res.anchor2 = anchor2;
+        res.axis = axis;
+        res.jointType = JointType.Revolute;
+        return res;
+    }
+    // #endif
+
+    public intoRaw(): RawGenericJoint {
+        let rawA1 = VectorOps.intoRaw(this.anchor1);
+        let rawA2 = VectorOps.intoRaw(this.anchor2);
+        let rawAx;
+        let result;
+        let limitsEnabled = false;
+        let limitsMin = 0.0;
+        let limitsMax = 0.0;
+
+        switch (this.jointType) {
+            case JointType.Fixed:
+                let rawFra1 = RotationOps.intoRaw(this.frame1);
+                let rawFra2 = RotationOps.intoRaw(this.frame2);
+                result = RawGenericJoint.fixed(rawA1, rawFra1, rawA2, rawFra2);
+                rawFra1.free();
+                rawFra2.free();
+                break;
+            case JointType.Spring:
+                result = RawGenericJoint.spring(
+                    this.length,
+                    this.stiffness,
+                    this.damping,
+                    rawA1,
+                    rawA2,
+                );
+                break;
+            case JointType.Rope:
+                result = RawGenericJoint.rope(this.length, rawA1, rawA2);
+                break;
+            case JointType.Prismatic:
+                rawAx = VectorOps.intoRaw(this.axis);
+
+                if (!!this.limitsEnabled) {
+                    limitsEnabled = true;
+                    limitsMin = this.limits[0];
+                    limitsMax = this.limits[1];
+                }
+
+                // #if DIM2
+                result = RawGenericJoint.prismatic(
+                    rawA1,
+                    rawA2,
+                    rawAx,
+                    limitsEnabled,
+                    limitsMin,
+                    limitsMax,
+                );
+                // #endif
+
+                // #if DIM3
+                result = RawGenericJoint.prismatic(
+                    rawA1,
+                    rawA2,
+                    rawAx,
+                    limitsEnabled,
+                    limitsMin,
+                    limitsMax,
+                );
+                // #endif
+
+                rawAx.free();
+                break;
+            // #if DIM2
+            case JointType.Revolute:
+                result = RawGenericJoint.revolute(rawA1, rawA2);
+                break;
+            // #endif
+            // #if DIM3
+            case JointType.Generic:
+                rawAx = VectorOps.intoRaw(this.axis);
+                // implicit type cast: axesMask is a JointAxesMask bitflag enum,
+                // we're treating it as a u8 on the Rust side
+                let rawAxesMask = this.axesMask;
+                result = RawGenericJoint.generic(
+                    rawA1,
+                    rawA2,
+                    rawAx,
+                    rawAxesMask,
+                );
+                break;
+            case JointType.Spherical:
+                result = RawGenericJoint.spherical(rawA1, rawA2);
+                break;
+            case JointType.Revolute:
+                rawAx = VectorOps.intoRaw(this.axis);
+                result = RawGenericJoint.revolute(rawA1, rawA2, rawAx);
+                rawAx.free();
+                break;
+            // #endif
+        }
+
+        rawA1.free();
+        rawA2.free();
+
+        return result;
+    }
+}
diff --git a/thirdparty/rapier.js/src.ts/dynamics/impulse_joint_set.ts b/thirdparty/rapier.js/src.ts/dynamics/impulse_joint_set.ts
new file mode 100644
index 00000000..2d382514
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/dynamics/impulse_joint_set.ts
@@ -0,0 +1,165 @@
+import {RawImpulseJointSet} from "../raw";
+import {Coarena} from "../coarena";
+import {RigidBodySet} from "./rigid_body_set";
+import {
+    RevoluteImpulseJoint,
+    FixedImpulseJoint,
+    ImpulseJoint,
+    ImpulseJointHandle,
+    JointData,
+    JointType,
+    PrismaticImpulseJoint,
+    // #if DIM3
+    SphericalImpulseJoint,
+    // #endif
+} from "./impulse_joint";
+import {IslandManager} from "./island_manager";
+import {RigidBodyHandle} from "./rigid_body";
+import {Collider, ColliderHandle} from "../geometry";
+
+/**
+ * A set of joints.
+ *
+ * To avoid leaking WASM resources, this MUST be freed manually with `jointSet.free()`
+ * once you are done using it (and all the joints it created).
+ */
+export class ImpulseJointSet {
+    raw: RawImpulseJointSet;
+    private map: Coarena<ImpulseJoint>;
+
+    /**
+     * Release the WASM memory occupied by this joint set.
+     */
+    public free() {
+        if (!!this.raw) {
+            this.raw.free();
+        }
+        this.raw = undefined;
+
+        if (!!this.map) {
+            this.map.clear();
+        }
+        this.map = undefined;
+    }
+
+    constructor(raw?: RawImpulseJointSet) {
+        this.raw = raw || new RawImpulseJointSet();
+        this.map = new Coarena<ImpulseJoint>();
+        // Initialize the map with the existing elements, if any.
+        if (raw) {
+            raw.forEachJointHandle((handle: ImpulseJointHandle) => {
+                this.map.set(handle, ImpulseJoint.newTyped(raw, null, handle));
+            });
+        }
+    }
+
+    /** @internal */
+    public finalizeDeserialization(bodies: RigidBodySet) {
+        this.map.forEach((joint) => joint.finalizeDeserialization(bodies));
+    }
+
+    /**
+     * Creates a new joint and return its integer handle.
+     *
+     * @param bodies - The set of rigid-bodies containing the bodies the joint is attached to.
+     * @param desc - The joint's parameters.
+     * @param parent1 - The handle of the first rigid-body this joint is attached to.
+     * @param parent2 - The handle of the second rigid-body this joint is attached to.
+     * @param wakeUp - Should the attached rigid-bodies be awakened?
+     */
+    public createJoint(
+        bodies: RigidBodySet,
+        desc: JointData,
+        parent1: RigidBodyHandle,
+        parent2: RigidBodyHandle,
+        wakeUp: boolean,
+    ): ImpulseJoint {
+        const rawParams = desc.intoRaw();
+        const handle = this.raw.createJoint(
+            rawParams,
+            parent1,
+            parent2,
+            wakeUp,
+        );
+        rawParams.free();
+        let joint = ImpulseJoint.newTyped(this.raw, bodies, handle);
+        this.map.set(handle, joint);
+        return joint;
+    }
+
+    /**
+     * Remove a joint from this set.
+     *
+     * @param handle - The integer handle of the joint.
+     * @param wakeUp - If `true`, the rigid-bodies attached by the removed joint will be woken-up automatically.
+     */
+    public remove(handle: ImpulseJointHandle, wakeUp: boolean) {
+        this.raw.remove(handle, wakeUp);
+        this.unmap(handle);
+    }
+
+    /**
+     * Calls the given closure with the integer handle of each impulse joint attached to this rigid-body.
+     *
+     * @param f - The closure called with the integer handle of each impulse joint attached to the rigid-body.
+     */
+    public forEachJointHandleAttachedToRigidBody(
+        handle: RigidBodyHandle,
+        f: (handle: ImpulseJointHandle) => void,
+    ) {
+        this.raw.forEachJointAttachedToRigidBody(handle, f);
+    }
+
+    /**
+     * Internal function, do not call directly.
+     * @param handle
+     */
+    public unmap(handle: ImpulseJointHandle) {
+        this.map.delete(handle);
+    }
+
+    /**
+     * The number of joints on this set.
+     */
+    public len(): number {
+        return this.map.len();
+    }
+
+    /**
+     * Does this set contain a joint with the given handle?
+     *
+     * @param handle - The joint handle to check.
+     */
+    public contains(handle: ImpulseJointHandle): boolean {
+        return this.get(handle) != null;
+    }
+
+    /**
+     * Gets the joint with the given handle.
+     *
+     * Returns `null` if no joint with the specified handle exists.
+     *
+     * @param handle - The integer handle of the joint to retrieve.
+     */
+    public get(handle: ImpulseJointHandle): ImpulseJoint | null {
+        return this.map.get(handle);
+    }
+
+    /**
+     * Applies the given closure to each joint contained by this set.
+     *
+     * @param f - The closure to apply.
+     */
+    public forEach(f: (joint: ImpulseJoint) => void) {
+        this.map.forEach(f);
+    }
+
+    /**
+     * Gets all joints in the list.
+     *
+     * @returns joint list.
+     */
+    public getAll(): ImpulseJoint[] {
+        return this.map.getAll();
+    }
+}
diff --git a/thirdparty/rapier.js/src.ts/dynamics/index.ts b/thirdparty/rapier.js/src.ts/dynamics/index.ts
new file mode 100644
index 00000000..4141658e
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/dynamics/index.ts
@@ -0,0 +1,10 @@
+export * from "./rigid_body";
+export * from "./rigid_body_set";
+export * from "./integration_parameters";
+export * from "./impulse_joint";
+export * from "./impulse_joint_set";
+export * from "./multibody_joint";
+export * from "./multibody_joint_set";
+export * from "./coefficient_combine_rule";
+export * from "./ccd_solver";
+export * from "./island_manager";
diff --git a/thirdparty/rapier.js/src.ts/dynamics/integration_parameters.ts b/thirdparty/rapier.js/src.ts/dynamics/integration_parameters.ts
new file mode 100644
index 00000000..b7253e21
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/dynamics/integration_parameters.ts
@@ -0,0 +1,126 @@
+import {RawIntegrationParameters} from "../raw";
+
+export class IntegrationParameters {
+    raw: RawIntegrationParameters;
+
+    constructor(raw?: RawIntegrationParameters) {
+        this.raw = raw || new RawIntegrationParameters();
+    }
+
+    /**
+     * Free the WASM memory used by these integration parameters.
+     */
+    public free() {
+        if (!!this.raw) {
+            this.raw.free();
+        }
+        this.raw = undefined;
+    }
+
+    /**
+     * The timestep length (default: `1.0 / 60.0`)
+     */
+    get dt(): number {
+        return this.raw.dt;
+    }
+
+    /**
+     * The Error Reduction Parameter in `[0, 1]` is the proportion of
+     * the positional error to be corrected at each time step (default: `0.2`).
+     */
+    get contact_erp(): number {
+        return this.raw.contact_erp;
+    }
+
+    get lengthUnit(): number {
+        return this.raw.lengthUnit;
+    }
+
+    /**
+     * Normalized amount of penetration the engine won’t attempt to correct (default: `0.001m`).
+     *
+     * This threshold considered by the physics engine is this value multiplied by the `lengthUnit`.
+     */
+    get normalizedAllowedLinearError(): number {
+        return this.raw.normalizedAllowedLinearError;
+    }
+
+    /**
+     * The maximal normalized distance separating two objects that will generate predictive contacts (default: `0.002`).
+     *
+     * This threshold considered by the physics engine is this value multiplied by the `lengthUnit`.
+     */
+    get normalizedPredictionDistance(): number {
+        return this.raw.normalizedPredictionDistance;
+    }
+
+    /**
+     * The number of solver iterations run by the constraints solver for calculating forces (default: `4`).
+     */
+    get numSolverIterations(): number {
+        return this.raw.numSolverIterations;
+    }
+
+    /**
+     * Number of internal Project Gauss Seidel (PGS) iterations run at each solver iteration (default: `1`).
+     */
+    get numInternalPgsIterations(): number {
+        return this.raw.numInternalPgsIterations;
+    }
+
+    /**
+     * Minimum number of dynamic bodies in each active island (default: `128`).
+     */
+    get minIslandSize(): number {
+        return this.raw.minIslandSize;
+    }
+
+    /**
+     * Maximum number of substeps performed by the  solver (default: `1`).
+     */
+    get maxCcdSubsteps(): number {
+        return this.raw.maxCcdSubsteps;
+    }
+
+    set dt(value: number) {
+        this.raw.dt = value;
+    }
+
+    set contact_natural_frequency(value: number) {
+        this.raw.contact_natural_frequency = value;
+    }
+
+    set lengthUnit(value: number) {
+        this.raw.lengthUnit = value;
+    }
+
+    set normalizedAllowedLinearError(value: number) {
+        this.raw.normalizedAllowedLinearError = value;
+    }
+
+    set normalizedPredictionDistance(value: number) {
+        this.raw.normalizedPredictionDistance = value;
+    }
+
+    /**
+     * Sets the number of solver iterations run by the constraints solver for calculating forces (default: `4`).
+     */
+    set numSolverIterations(value: number) {
+        this.raw.numSolverIterations = value;
+    }
+
+    /**
+     * Sets the number of internal Project Gauss Seidel (PGS) iterations run at each solver iteration (default: `1`).
+     */
+    set numInternalPgsIterations(value: number) {
+        this.raw.numInternalPgsIterations = value;
+    }
+
+    set minIslandSize(value: number) {
+        this.raw.minIslandSize = value;
+    }
+
+    set maxCcdSubsteps(value: number) {
+        this.raw.maxCcdSubsteps = value;
+    }
+}
diff --git a/thirdparty/rapier.js/src.ts/dynamics/island_manager.ts b/thirdparty/rapier.js/src.ts/dynamics/island_manager.ts
new file mode 100644
index 00000000..65ed21dc
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/dynamics/island_manager.ts
@@ -0,0 +1,37 @@
+import {RawIslandManager} from "../raw";
+import {RigidBodyHandle} from "./rigid_body";
+
+/**
+ * The CCD solver responsible for resolving Continuous Collision Detection.
+ *
+ * To avoid leaking WASM resources, this MUST be freed manually with `ccdSolver.free()`
+ * once you are done using it.
+ */
+export class IslandManager {
+    raw: RawIslandManager;
+
+    /**
+     * Release the WASM memory occupied by this narrow-phase.
+     */
+    public free() {
+        if (!!this.raw) {
+            this.raw.free();
+        }
+        this.raw = undefined;
+    }
+
+    constructor(raw?: RawIslandManager) {
+        this.raw = raw || new RawIslandManager();
+    }
+
+    /**
+     * Applies the given closure to the handle of each active rigid-bodies contained by this set.
+     *
+     * A rigid-body is active if it is not sleeping, i.e., if it moved recently.
+     *
+     * @param f - The closure to apply.
+     */
+    public forEachActiveRigidBodyHandle(f: (handle: RigidBodyHandle) => void) {
+        this.raw.forEachActiveRigidBodyHandle(f);
+    }
+}
diff --git a/thirdparty/rapier.js/src.ts/dynamics/multibody_joint.ts b/thirdparty/rapier.js/src.ts/dynamics/multibody_joint.ts
new file mode 100644
index 00000000..5608aec7
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/dynamics/multibody_joint.ts
@@ -0,0 +1,222 @@
+import {
+    RawImpulseJointSet,
+    RawJointAxis,
+    RawJointType,
+    RawMultibodyJointSet,
+} from "../raw";
+import {
+    FixedImpulseJoint,
+    ImpulseJointHandle,
+    JointType,
+    MotorModel,
+    PrismaticImpulseJoint,
+    RevoluteImpulseJoint,
+} from "./impulse_joint";
+
+// #if DIM3
+import {Quaternion} from "../math";
+import {SphericalImpulseJoint} from "./impulse_joint";
+// #endif
+
+/**
+ * The integer identifier of a collider added to a `ColliderSet`.
+ */
+export type MultibodyJointHandle = number;
+
+export class MultibodyJoint {
+    protected rawSet: RawMultibodyJointSet; // The MultibodyJoint won't need to free this.
+    handle: MultibodyJointHandle;
+
+    constructor(rawSet: RawMultibodyJointSet, handle: MultibodyJointHandle) {
+        this.rawSet = rawSet;
+        this.handle = handle;
+    }
+
+    public static newTyped(
+        rawSet: RawMultibodyJointSet,
+        handle: MultibodyJointHandle,
+    ): MultibodyJoint {
+        switch (rawSet.jointType(handle)) {
+            case RawJointType.Revolute:
+                return new RevoluteMultibodyJoint(rawSet, handle);
+            case RawJointType.Prismatic:
+                return new PrismaticMultibodyJoint(rawSet, handle);
+            case RawJointType.Fixed:
+                return new FixedMultibodyJoint(rawSet, handle);
+            // #if DIM3
+            case RawJointType.Spherical:
+                return new SphericalMultibodyJoint(rawSet, handle);
+            // #endif
+            default:
+                return new MultibodyJoint(rawSet, handle);
+        }
+    }
+
+    /**
+     * Checks if this joint is still valid (i.e. that it has
+     * not been deleted from the joint set yet).
+     */
+    public isValid(): boolean {
+        return this.rawSet.contains(this.handle);
+    }
+
+    // /**
+    //  * The unique integer identifier of the first rigid-body this joint it attached to.
+    //  */
+    // public bodyHandle1(): RigidBodyHandle {
+    //     return this.rawSet.jointBodyHandle1(this.handle);
+    // }
+    //
+    // /**
+    //  * The unique integer identifier of the second rigid-body this joint is attached to.
+    //  */
+    // public bodyHandle2(): RigidBodyHandle {
+    //     return this.rawSet.jointBodyHandle2(this.handle);
+    // }
+    //
+    // /**
+    //  * The type of this joint given as a string.
+    //  */
+    // public type(): JointType {
+    //     return this.rawSet.jointType(this.handle);
+    // }
+    //
+    // // #if DIM3
+    // /**
+    //  * The rotation quaternion that aligns this joint's first local axis to the `x` axis.
+    //  */
+    // public frameX1(): Rotation {
+    //     return RotationOps.fromRaw(this.rawSet.jointFrameX1(this.handle));
+    // }
+    //
+    // // #endif
+    //
+    // // #if DIM3
+    // /**
+    //  * The rotation matrix that aligns this joint's second local axis to the `x` axis.
+    //  */
+    // public frameX2(): Rotation {
+    //     return RotationOps.fromRaw(this.rawSet.jointFrameX2(this.handle));
+    // }
+    //
+    // // #endif
+    //
+    // /**
+    //  * The position of the first anchor of this joint.
+    //  *
+    //  * The first anchor gives the position of the points application point on the
+    //  * local frame of the first rigid-body it is attached to.
+    //  */
+    // public anchor1(): Vector {
+    //     return VectorOps.fromRaw(this.rawSet.jointAnchor1(this.handle));
+    // }
+    //
+    // /**
+    //  * The position of the second anchor of this joint.
+    //  *
+    //  * The second anchor gives the position of the points application point on the
+    //  * local frame of the second rigid-body it is attached to.
+    //  */
+    // public anchor2(): Vector {
+    //     return VectorOps.fromRaw(this.rawSet.jointAnchor2(this.handle));
+    // }
+
+    /**
+     * Controls whether contacts are computed between colliders attached
+     * to the rigid-bodies linked by this joint.
+     */
+    public setContactsEnabled(enabled: boolean) {
+        this.rawSet.jointSetContactsEnabled(this.handle, enabled);
+    }
+
+    /**
+     * Indicates if contacts are enabled between colliders attached
+     * to the rigid-bodies linked by this joint.
+     */
+    public contactsEnabled(): boolean {
+        return this.rawSet.jointContactsEnabled(this.handle);
+    }
+}
+
+export class UnitMultibodyJoint extends MultibodyJoint {
+    /**
+     * The axis left free by this joint.
+     */
+    protected rawAxis?(): RawJointAxis;
+
+    // /**
+    //  * Are the limits enabled for this joint?
+    //  */
+    // public limitsEnabled(): boolean {
+    //     return this.rawSet.jointLimitsEnabled(this.handle, this.rawAxis());
+    // }
+    //
+    // /**
+    //  * The min limit of this joint.
+    //  */
+    // public limitsMin(): number {
+    //     return this.rawSet.jointLimitsMin(this.handle, this.rawAxis());
+    // }
+    //
+    // /**
+    //  * The max limit of this joint.
+    //  */
+    // public limitsMax(): number {
+    //     return this.rawSet.jointLimitsMax(this.handle, this.rawAxis());
+    // }
+    //
+    // public configureMotorModel(model: MotorModel) {
+    //     this.rawSet.jointConfigureMotorModel(this.handle, this.rawAxis(), model);
+    // }
+    //
+    // public configureMotorVelocity(targetVel: number, factor: number) {
+    //     this.rawSet.jointConfigureMotorVelocity(this.handle, this.rawAxis(), targetVel, factor);
+    // }
+    //
+    // public configureMotorPosition(targetPos: number, stiffness: number, damping: number) {
+    //     this.rawSet.jointConfigureMotorPosition(this.handle, this.rawAxis(), targetPos, stiffness, damping);
+    // }
+    //
+    // public configureMotor(targetPos: number, targetVel: number, stiffness: number, damping: number) {
+    //     this.rawSet.jointConfigureMotor(this.handle, this.rawAxis(), targetPos, targetVel, stiffness, damping);
+    // }
+}
+
+export class FixedMultibodyJoint extends MultibodyJoint {}
+
+export class PrismaticMultibodyJoint extends UnitMultibodyJoint {
+    public rawAxis(): RawJointAxis {
+        return RawJointAxis.LinX;
+    }
+}
+
+export class RevoluteMultibodyJoint extends UnitMultibodyJoint {
+    public rawAxis(): RawJointAxis {
+        return RawJointAxis.AngX;
+    }
+}
+
+// #if DIM3
+export class SphericalMultibodyJoint extends MultibodyJoint {
+    /* Unsupported by this alpha release.
+    public configureMotorModel(model: MotorModel) {
+        this.rawSet.jointConfigureMotorModel(this.handle, model);
+    }
+
+    public configureMotorVelocity(targetVel: Vector, factor: number) {
+        this.rawSet.jointConfigureBallMotorVelocity(this.handle, targetVel.x, targetVel.y, targetVel.z, factor);
+    }
+
+    public configureMotorPosition(targetPos: Quaternion, stiffness: number, damping: number) {
+        this.rawSet.jointConfigureBallMotorPosition(this.handle, targetPos.w, targetPos.x, targetPos.y, targetPos.z, stiffness, damping);
+    }
+
+    public configureMotor(targetPos: Quaternion, targetVel: Vector, stiffness: number, damping: number) {
+        this.rawSet.jointConfigureBallMotor(this.handle,
+            targetPos.w, targetPos.x, targetPos.y, targetPos.z,
+            targetVel.x, targetVel.y, targetVel.z,
+            stiffness, damping);
+    }
+     */
+}
+// #endif
diff --git a/thirdparty/rapier.js/src.ts/dynamics/multibody_joint_set.ts b/thirdparty/rapier.js/src.ts/dynamics/multibody_joint_set.ts
new file mode 100644
index 00000000..2fbb3403
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/dynamics/multibody_joint_set.ts
@@ -0,0 +1,157 @@
+import {RawMultibodyJointSet} from "../raw";
+import {Coarena} from "../coarena";
+import {RigidBodySet} from "./rigid_body_set";
+import {
+    MultibodyJoint,
+    MultibodyJointHandle,
+    RevoluteMultibodyJoint,
+    FixedMultibodyJoint,
+    PrismaticMultibodyJoint,
+    // #if DIM3
+    SphericalMultibodyJoint,
+    // #endif
+} from "./multibody_joint";
+import {ImpulseJointHandle, JointData, JointType} from "./impulse_joint";
+import {IslandManager} from "./island_manager";
+import {ColliderHandle} from "../geometry";
+import {RigidBodyHandle} from "./rigid_body";
+
+/**
+ * A set of joints.
+ *
+ * To avoid leaking WASM resources, this MUST be freed manually with `jointSet.free()`
+ * once you are done using it (and all the joints it created).
+ */
+export class MultibodyJointSet {
+    raw: RawMultibodyJointSet;
+    private map: Coarena<MultibodyJoint>;
+
+    /**
+     * Release the WASM memory occupied by this joint set.
+     */
+    public free() {
+        if (!!this.raw) {
+            this.raw.free();
+        }
+        this.raw = undefined;
+
+        if (!!this.map) {
+            this.map.clear();
+        }
+        this.map = undefined;
+    }
+
+    constructor(raw?: RawMultibodyJointSet) {
+        this.raw = raw || new RawMultibodyJointSet();
+        this.map = new Coarena<MultibodyJoint>();
+        // Initialize the map with the existing elements, if any.
+        if (raw) {
+            raw.forEachJointHandle((handle: MultibodyJointHandle) => {
+                this.map.set(handle, MultibodyJoint.newTyped(this.raw, handle));
+            });
+        }
+    }
+
+    /**
+     * Creates a new joint and return its integer handle.
+     *
+     * @param desc - The joint's parameters.
+     * @param parent1 - The handle of the first rigid-body this joint is attached to.
+     * @param parent2 - The handle of the second rigid-body this joint is attached to.
+     * @param wakeUp - Should the attached rigid-bodies be awakened?
+     */
+    public createJoint(
+        desc: JointData,
+        parent1: RigidBodyHandle,
+        parent2: RigidBodyHandle,
+        wakeUp: boolean,
+    ): MultibodyJoint {
+        const rawParams = desc.intoRaw();
+        const handle = this.raw.createJoint(
+            rawParams,
+            parent1,
+            parent2,
+            wakeUp,
+        );
+        rawParams.free();
+        let joint = MultibodyJoint.newTyped(this.raw, handle);
+        this.map.set(handle, joint);
+        return joint;
+    }
+
+    /**
+     * Remove a joint from this set.
+     *
+     * @param handle - The integer handle of the joint.
+     * @param wake_up - If `true`, the rigid-bodies attached by the removed joint will be woken-up automatically.
+     */
+    public remove(handle: MultibodyJointHandle, wake_up: boolean) {
+        this.raw.remove(handle, wake_up);
+        this.map.delete(handle);
+    }
+
+    /**
+     * Internal function, do not call directly.
+     * @param handle
+     */
+    public unmap(handle: MultibodyJointHandle) {
+        this.map.delete(handle);
+    }
+
+    /**
+     * The number of joints on this set.
+     */
+    public len(): number {
+        return this.map.len();
+    }
+
+    /**
+     * Does this set contain a joint with the given handle?
+     *
+     * @param handle - The joint handle to check.
+     */
+    public contains(handle: MultibodyJointHandle): boolean {
+        return this.get(handle) != null;
+    }
+
+    /**
+     * Gets the joint with the given handle.
+     *
+     * Returns `null` if no joint with the specified handle exists.
+     *
+     * @param handle - The integer handle of the joint to retrieve.
+     */
+    public get(handle: MultibodyJointHandle): MultibodyJoint | null {
+        return this.map.get(handle);
+    }
+
+    /**
+     * Applies the given closure to each joint contained by this set.
+     *
+     * @param f - The closure to apply.
+     */
+    public forEach(f: (joint: MultibodyJoint) => void) {
+        this.map.forEach(f);
+    }
+
+    /**
+     * Calls the given closure with the integer handle of each multibody joint attached to this rigid-body.
+     *
+     * @param f - The closure called with the integer handle of each multibody joint attached to the rigid-body.
+     */
+    public forEachJointHandleAttachedToRigidBody(
+        handle: RigidBodyHandle,
+        f: (handle: MultibodyJointHandle) => void,
+    ) {
+        this.raw.forEachJointAttachedToRigidBody(handle, f);
+    }
+
+    /**
+     * Gets all joints in the list.
+     *
+     * @returns joint list.
+     */
+    public getAll(): MultibodyJoint[] {
+        return this.map.getAll();
+    }
+}
diff --git a/thirdparty/rapier.js/src.ts/dynamics/rigid_body.ts b/thirdparty/rapier.js/src.ts/dynamics/rigid_body.ts
new file mode 100644
index 00000000..8f52dbe5
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/dynamics/rigid_body.ts
@@ -0,0 +1,1691 @@
+import {RawRigidBodySet, RawRigidBodyType} from "../raw";
+import {Rotation, RotationOps, Vector, VectorOps} from "../math";
+// #if DIM3
+import {SdpMatrix3, SdpMatrix3Ops} from "../math";
+// #endif
+import {Collider, ColliderSet} from "../geometry";
+
+/**
+ * The integer identifier of a collider added to a `ColliderSet`.
+ */
+export type RigidBodyHandle = number;
+
+/**
+ * The simulation status of a rigid-body.
+ */
+// TODO: rename this to RigidBodyType
+export enum RigidBodyType {
+    /**
+     * A `RigidBodyType::Dynamic` body can be affected by all external forces.
+     */
+    Dynamic = 0,
+    /**
+     * A `RigidBodyType::Fixed` body cannot be affected by external forces.
+     */
+    Fixed,
+    /**
+     * A `RigidBodyType::KinematicPositionBased` body cannot be affected by any external forces but can be controlled
+     * by the user at the position level while keeping realistic one-way interaction with dynamic bodies.
+     *
+     * One-way interaction means that a kinematic body can push a dynamic body, but a kinematic body
+     * cannot be pushed by anything. In other words, the trajectory of a kinematic body can only be
+     * modified by the user and is independent from any contact or joint it is involved in.
+     */
+    KinematicPositionBased,
+    /**
+     * A `RigidBodyType::KinematicVelocityBased` body cannot be affected by any external forces but can be controlled
+     * by the user at the velocity level while keeping realistic one-way interaction with dynamic bodies.
+     *
+     * One-way interaction means that a kinematic body can push a dynamic body, but a kinematic body
+     * cannot be pushed by anything. In other words, the trajectory of a kinematic body can only be
+     * modified by the user and is independent from any contact or joint it is involved in.
+     */
+    KinematicVelocityBased,
+}
+
+/**
+ * A rigid-body.
+ */
+export class RigidBody {
+    private rawSet: RawRigidBodySet; // The RigidBody won't need to free this.
+    private colliderSet: ColliderSet;
+    readonly handle: RigidBodyHandle;
+
+    /**
+     * An arbitrary user-defined object associated with this rigid-body.
+     */
+    public userData?: unknown;
+
+    constructor(
+        rawSet: RawRigidBodySet,
+        colliderSet: ColliderSet,
+        handle: RigidBodyHandle,
+    ) {
+        this.rawSet = rawSet;
+        this.colliderSet = colliderSet;
+        this.handle = handle;
+    }
+
+    /** @internal */
+    public finalizeDeserialization(colliderSet: ColliderSet) {
+        this.colliderSet = colliderSet;
+    }
+
+    /**
+     * Checks if this rigid-body is still valid (i.e. that it has
+     * not been deleted from the rigid-body set yet.
+     */
+    public isValid(): boolean {
+        return this.rawSet.contains(this.handle);
+    }
+
+    /**
+     * Locks or unlocks the ability of this rigid-body to translate.
+     *
+     * @param locked - If `true`, this rigid-body will no longer translate due to forces and impulses.
+     * @param wakeUp - If `true`, this rigid-body will be automatically awaken if it is currently asleep.
+     */
+    public lockTranslations(locked: boolean, wakeUp: boolean) {
+        return this.rawSet.rbLockTranslations(this.handle, locked, wakeUp);
+    }
+
+    /**
+     * Locks or unlocks the ability of this rigid-body to rotate.
+     *
+     * @param locked - If `true`, this rigid-body will no longer rotate due to torques and impulses.
+     * @param wakeUp - If `true`, this rigid-body will be automatically awaken if it is currently asleep.
+     */
+    public lockRotations(locked: boolean, wakeUp: boolean) {
+        return this.rawSet.rbLockRotations(this.handle, locked, wakeUp);
+    }
+
+    // #if DIM2
+    /**
+     * Locks or unlocks the ability of this rigid-body to translation along individual coordinate axes.
+     *
+     * @param enableX - If `false`, this rigid-body will no longer rotate due to torques and impulses, along the X coordinate axis.
+     * @param enableY - If `false`, this rigid-body will no longer rotate due to torques and impulses, along the Y coordinate axis.
+     * @param wakeUp - If `true`, this rigid-body will be automatically awaken if it is currently asleep.
+     */
+    public setEnabledTranslations(
+        enableX: boolean,
+        enableY: boolean,
+        wakeUp: boolean,
+    ) {
+        return this.rawSet.rbSetEnabledTranslations(
+            this.handle,
+            enableX,
+            enableY,
+            wakeUp,
+        );
+    }
+
+    /**
+     * Locks or unlocks the ability of this rigid-body to translation along individual coordinate axes.
+     *
+     * @param enableX - If `false`, this rigid-body will no longer rotate due to torques and impulses, along the X coordinate axis.
+     * @param enableY - If `false`, this rigid-body will no longer rotate due to torques and impulses, along the Y coordinate axis.
+     * @param wakeUp - If `true`, this rigid-body will be automatically awaken if it is currently asleep.
+     * @deprecated use `this.setEnabledTranslations` with the same arguments instead.
+     */
+    public restrictTranslations(
+        enableX: boolean,
+        enableY: boolean,
+        wakeUp: boolean,
+    ) {
+        this.setEnabledTranslations(enableX, enableX, wakeUp);
+    }
+
+    // #endif
+    // #if DIM3
+    /**
+     * Locks or unlocks the ability of this rigid-body to translate along individual coordinate axes.
+     *
+     * @param enableX - If `false`, this rigid-body will no longer translate due to torques and impulses, along the X coordinate axis.
+     * @param enableY - If `false`, this rigid-body will no longer translate due to torques and impulses, along the Y coordinate axis.
+     * @param enableZ - If `false`, this rigid-body will no longer translate due to torques and impulses, along the Z coordinate axis.
+     * @param wakeUp - If `true`, this rigid-body will be automatically awaken if it is currently asleep.
+     */
+    public setEnabledTranslations(
+        enableX: boolean,
+        enableY: boolean,
+        enableZ: boolean,
+        wakeUp: boolean,
+    ) {
+        return this.rawSet.rbSetEnabledTranslations(
+            this.handle,
+            enableX,
+            enableY,
+            enableZ,
+            wakeUp,
+        );
+    }
+
+    /**
+     * Locks or unlocks the ability of this rigid-body to translate along individual coordinate axes.
+     *
+     * @param enableX - If `false`, this rigid-body will no longer translate due to torques and impulses, along the X coordinate axis.
+     * @param enableY - If `false`, this rigid-body will no longer translate due to torques and impulses, along the Y coordinate axis.
+     * @param enableZ - If `false`, this rigid-body will no longer translate due to torques and impulses, along the Z coordinate axis.
+     * @param wakeUp - If `true`, this rigid-body will be automatically awaken if it is currently asleep.
+     * @deprecated use `this.setEnabledTranslations` with the same arguments instead.
+     */
+    public restrictTranslations(
+        enableX: boolean,
+        enableY: boolean,
+        enableZ: boolean,
+        wakeUp: boolean,
+    ) {
+        this.setEnabledTranslations(enableX, enableY, enableZ, wakeUp);
+    }
+
+    /**
+     * Locks or unlocks the ability of this rigid-body to rotate along individual coordinate axes.
+     *
+     * @param enableX - If `false`, this rigid-body will no longer rotate due to torques and impulses, along the X coordinate axis.
+     * @param enableY - If `false`, this rigid-body will no longer rotate due to torques and impulses, along the Y coordinate axis.
+     * @param enableZ - If `false`, this rigid-body will no longer rotate due to torques and impulses, along the Z coordinate axis.
+     * @param wakeUp - If `true`, this rigid-body will be automatically awaken if it is currently asleep.
+     */
+    public setEnabledRotations(
+        enableX: boolean,
+        enableY: boolean,
+        enableZ: boolean,
+        wakeUp: boolean,
+    ) {
+        return this.rawSet.rbSetEnabledRotations(
+            this.handle,
+            enableX,
+            enableY,
+            enableZ,
+            wakeUp,
+        );
+    }
+
+    /**
+     * Locks or unlocks the ability of this rigid-body to rotate along individual coordinate axes.
+     *
+     * @param enableX - If `false`, this rigid-body will no longer rotate due to torques and impulses, along the X coordinate axis.
+     * @param enableY - If `false`, this rigid-body will no longer rotate due to torques and impulses, along the Y coordinate axis.
+     * @param enableZ - If `false`, this rigid-body will no longer rotate due to torques and impulses, along the Z coordinate axis.
+     * @param wakeUp - If `true`, this rigid-body will be automatically awaken if it is currently asleep.
+     * @deprecated use `this.setEnabledRotations` with the same arguments instead.
+     */
+    public restrictRotations(
+        enableX: boolean,
+        enableY: boolean,
+        enableZ: boolean,
+        wakeUp: boolean,
+    ) {
+        this.setEnabledRotations(enableX, enableY, enableZ, wakeUp);
+    }
+
+    // #endif
+
+    /**
+     * The dominance group, in [-127, +127] this rigid-body is part of.
+     */
+    public dominanceGroup(): number {
+        return this.rawSet.rbDominanceGroup(this.handle);
+    }
+
+    /**
+     * Sets the dominance group of this rigid-body.
+     *
+     * @param group - The dominance group of this rigid-body. Must be a signed integer in the range [-127, +127].
+     */
+    public setDominanceGroup(group: number) {
+        this.rawSet.rbSetDominanceGroup(this.handle, group);
+    }
+
+    /**
+     * The number of additional solver iterations that will be run for this
+     * rigid-body and everything that interacts with it directly or indirectly
+     * through contacts or joints.
+     */
+    public additionalSolverIterations(): number {
+        return this.rawSet.rbAdditionalSolverIterations(this.handle);
+    }
+
+    /**
+     * Sets the number of additional solver iterations that will be run for this
+     * rigid-body and everything that interacts with it directly or indirectly
+     * through contacts or joints.
+     *
+     * Compared to increasing the global `World.numSolverIteration`, setting this
+     * value lets you increase accuracy on only a subset of the scene, resulting in reduced
+     * performance loss.
+     *
+     * @param iters - The new number of additional solver iterations (default: 0).
+     */
+    public setAdditionalSolverIterations(iters: number) {
+        this.rawSet.rbSetAdditionalSolverIterations(this.handle, iters);
+    }
+
+    /**
+     * Enable or disable CCD (Continuous Collision Detection) for this rigid-body.
+     *
+     * @param enabled - If `true`, CCD will be enabled for this rigid-body.
+     */
+    public enableCcd(enabled: boolean) {
+        this.rawSet.rbEnableCcd(this.handle, enabled);
+    }
+
+    /**
+     * Sets the soft-CCD prediction distance for this rigid-body.
+     *
+     * See the documentation of `RigidBodyDesc.setSoftCcdPrediction` for
+     * additional details.
+     */
+    public setSoftCcdPrediction(distance: number) {
+        this.rawSet.rbSetSoftCcdPrediction(this.handle, distance);
+    }
+
+    /**
+     * Gets the soft-CCD prediction distance for this rigid-body.
+     *
+     * See the documentation of `RigidBodyDesc.setSoftCcdPrediction` for
+     * additional details.
+     */
+    public softCcdPrediction(): number {
+        return this.rawSet.rbSoftCcdPrediction(this.handle);
+    }
+
+    /**
+     * The world-space translation of this rigid-body.
+     */
+    public translation(): Vector {
+        let res = this.rawSet.rbTranslation(this.handle);
+        return VectorOps.fromRaw(res);
+    }
+
+    /**
+     * The world-space orientation of this rigid-body.
+     */
+    public rotation(): Rotation {
+        let res = this.rawSet.rbRotation(this.handle);
+        return RotationOps.fromRaw(res);
+    }
+
+    /**
+     * The world-space next translation of this rigid-body.
+     *
+     * If this rigid-body is kinematic this value is set by the `setNextKinematicTranslation`
+     * method and is used for estimating the kinematic body velocity at the next timestep.
+     * For non-kinematic bodies, this value is currently unspecified.
+     */
+    public nextTranslation(): Vector {
+        let res = this.rawSet.rbNextTranslation(this.handle);
+        return VectorOps.fromRaw(res);
+    }
+
+    /**
+     * The world-space next orientation of this rigid-body.
+     *
+     * If this rigid-body is kinematic this value is set by the `setNextKinematicRotation`
+     * method and is used for estimating the kinematic body velocity at the next timestep.
+     * For non-kinematic bodies, this value is currently unspecified.
+     */
+    public nextRotation(): Rotation {
+        let res = this.rawSet.rbNextRotation(this.handle);
+        return RotationOps.fromRaw(res);
+    }
+
+    /**
+     * Sets the translation of this rigid-body.
+     *
+     * @param tra - The world-space position of the rigid-body.
+     * @param wakeUp - Forces the rigid-body to wake-up so it is properly affected by forces if it
+     *                 wasn't moving before modifying its position.
+     */
+    public setTranslation(tra: Vector, wakeUp: boolean) {
+        // #if DIM2
+        this.rawSet.rbSetTranslation(this.handle, tra.x, tra.y, wakeUp);
+        // #endif
+        // #if DIM3
+        this.rawSet.rbSetTranslation(this.handle, tra.x, tra.y, tra.z, wakeUp);
+        // #endif
+    }
+
+    /**
+     * Sets the linear velocity of this rigid-body.
+     *
+     * @param vel - The linear velocity to set.
+     * @param wakeUp - Forces the rigid-body to wake-up if it was asleep.
+     */
+    public setLinvel(vel: Vector, wakeUp: boolean) {
+        let rawVel = VectorOps.intoRaw(vel);
+        this.rawSet.rbSetLinvel(this.handle, rawVel, wakeUp);
+        rawVel.free();
+    }
+
+    /**
+     * The scale factor applied to the gravity affecting
+     * this rigid-body.
+     */
+    public gravityScale(): number {
+        return this.rawSet.rbGravityScale(this.handle);
+    }
+
+    /**
+     * Sets the scale factor applied to the gravity affecting
+     * this rigid-body.
+     *
+     * @param factor - The scale factor to set. A value of 0.0 means
+     *   that this rigid-body will on longer be affected by gravity.
+     * @param wakeUp - Forces the rigid-body to wake-up if it was asleep.
+     */
+    public setGravityScale(factor: number, wakeUp: boolean) {
+        this.rawSet.rbSetGravityScale(this.handle, factor, wakeUp);
+    }
+
+    // #if DIM3
+    /**
+     * Sets the rotation quaternion of this rigid-body.
+     *
+     * This does nothing if a zero quaternion is provided.
+     *
+     * @param rotation - The rotation to set.
+     * @param wakeUp - Forces the rigid-body to wake-up so it is properly affected by forces if it
+     * wasn't moving before modifying its position.
+     */
+    public setRotation(rot: Rotation, wakeUp: boolean) {
+        this.rawSet.rbSetRotation(
+            this.handle,
+            rot.x,
+            rot.y,
+            rot.z,
+            rot.w,
+            wakeUp,
+        );
+    }
+
+    /**
+     * Sets the angular velocity fo this rigid-body.
+     *
+     * @param vel - The angular velocity to set.
+     * @param wakeUp - Forces the rigid-body to wake-up if it was asleep.
+     */
+    public setAngvel(vel: Vector, wakeUp: boolean) {
+        let rawVel = VectorOps.intoRaw(vel);
+        this.rawSet.rbSetAngvel(this.handle, rawVel, wakeUp);
+        rawVel.free();
+    }
+
+    // #endif
+
+    // #if DIM2
+    /**
+     * Sets the rotation angle of this rigid-body.
+     *
+     * @param angle - The rotation angle, in radians.
+     * @param wakeUp - Forces the rigid-body to wake-up so it is properly affected by forces if it
+     * wasn't moving before modifying its position.
+     */
+    public setRotation(angle: number, wakeUp: boolean) {
+        this.rawSet.rbSetRotation(this.handle, angle, wakeUp);
+    }
+
+    /**
+     * Sets the angular velocity fo this rigid-body.
+     *
+     * @param vel - The angular velocity to set.
+     * @param wakeUp - Forces the rigid-body to wake-up if it was asleep.
+     */
+    public setAngvel(vel: number, wakeUp: boolean) {
+        this.rawSet.rbSetAngvel(this.handle, vel, wakeUp);
+    }
+
+    // #endif
+
+    /**
+     * If this rigid body is kinematic, sets its future translation after the next timestep integration.
+     *
+     * This should be used instead of `rigidBody.setTranslation` to make the dynamic object
+     * interacting with this kinematic body behave as expected. Internally, Rapier will compute
+     * an artificial velocity for this rigid-body from its current position and its next kinematic
+     * position. This velocity will be used to compute forces on dynamic bodies interacting with
+     * this body.
+     *
+     * @param t - The kinematic translation to set.
+     */
+    public setNextKinematicTranslation(t: Vector) {
+        // #if DIM2
+        this.rawSet.rbSetNextKinematicTranslation(this.handle, t.x, t.y);
+        // #endif
+        // #if DIM3
+        this.rawSet.rbSetNextKinematicTranslation(this.handle, t.x, t.y, t.z);
+        // #endif
+    }
+
+    // #if DIM3
+    /**
+     * If this rigid body is kinematic, sets its future rotation after the next timestep integration.
+     *
+     * This should be used instead of `rigidBody.setRotation` to make the dynamic object
+     * interacting with this kinematic body behave as expected. Internally, Rapier will compute
+     * an artificial velocity for this rigid-body from its current position and its next kinematic
+     * position. This velocity will be used to compute forces on dynamic bodies interacting with
+     * this body.
+     *
+     * @param rot - The kinematic rotation to set.
+     */
+    public setNextKinematicRotation(rot: Rotation) {
+        this.rawSet.rbSetNextKinematicRotation(
+            this.handle,
+            rot.x,
+            rot.y,
+            rot.z,
+            rot.w,
+        );
+    }
+
+    // #endif
+
+    // #if DIM2
+    /**
+     * If this rigid body is kinematic, sets its future rotation after the next timestep integration.
+     *
+     * This should be used instead of `rigidBody.setRotation` to make the dynamic object
+     * interacting with this kinematic body behave as expected. Internally, Rapier will compute
+     * an artificial velocity for this rigid-body from its current position and its next kinematic
+     * position. This velocity will be used to compute forces on dynamic bodies interacting with
+     * this body.
+     *
+     * @param angle - The kinematic rotation angle, in radians.
+     */
+    public setNextKinematicRotation(angle: number) {
+        this.rawSet.rbSetNextKinematicRotation(this.handle, angle);
+    }
+
+    // #endif
+
+    /**
+     * The linear velocity of this rigid-body.
+     */
+    public linvel(): Vector {
+        return VectorOps.fromRaw(this.rawSet.rbLinvel(this.handle));
+    }
+
+    /**
+     * The velocity of the given world-space point on this rigid-body.
+     */
+    public velocityAtPoint(point: Vector): Vector {
+        const rawPoint = VectorOps.intoRaw(point);
+        let result = VectorOps.fromRaw(
+            this.rawSet.rbVelocityAtPoint(this.handle, rawPoint),
+        );
+        rawPoint.free();
+        return result;
+    }
+
+    // #if DIM3
+    /**
+     * The angular velocity of this rigid-body.
+     */
+    public angvel(): Vector {
+        return VectorOps.fromRaw(this.rawSet.rbAngvel(this.handle));
+    }
+
+    // #endif
+
+    // #if DIM2
+    /**
+     * The angular velocity of this rigid-body.
+     */
+    public angvel(): number {
+        return this.rawSet.rbAngvel(this.handle);
+    }
+
+    // #endif
+
+    /**
+     * The mass of this rigid-body.
+     */
+    public mass(): number {
+        return this.rawSet.rbMass(this.handle);
+    }
+
+    /**
+     * The inverse mass taking into account translation locking.
+     */
+    public effectiveInvMass(): Vector {
+        return VectorOps.fromRaw(this.rawSet.rbEffectiveInvMass(this.handle));
+    }
+
+    /**
+     * The inverse of the mass of a rigid-body.
+     *
+     * If this is zero, the rigid-body is assumed to have infinite mass.
+     */
+    public invMass(): number {
+        return this.rawSet.rbInvMass(this.handle);
+    }
+
+    /**
+     * The center of mass of a rigid-body expressed in its local-space.
+     */
+    public localCom(): Vector {
+        return VectorOps.fromRaw(this.rawSet.rbLocalCom(this.handle));
+    }
+
+    /**
+     * The world-space center of mass of the rigid-body.
+     */
+    public worldCom(): Vector {
+        return VectorOps.fromRaw(this.rawSet.rbWorldCom(this.handle));
+    }
+
+    // #if DIM2
+    /**
+     * The inverse of the principal angular inertia of the rigid-body.
+     *
+     * Components set to zero are assumed to be infinite along the corresponding principal axis.
+     */
+    public invPrincipalInertia(): number {
+        return this.rawSet.rbInvPrincipalInertia(this.handle);
+    }
+
+    // #endif
+
+    // #if DIM3
+    /**
+     * The inverse of the principal angular inertia of the rigid-body.
+     *
+     * Components set to zero are assumed to be infinite along the corresponding principal axis.
+     */
+    public invPrincipalInertia(): Vector {
+        return VectorOps.fromRaw(
+            this.rawSet.rbInvPrincipalInertia(this.handle),
+        );
+    }
+
+    // #endif
+
+    // #if DIM2
+    /**
+     * The angular inertia along the principal inertia axes of the rigid-body.
+     */
+    public principalInertia(): number {
+        return this.rawSet.rbPrincipalInertia(this.handle);
+    }
+
+    // #endif
+
+    // #if DIM3
+    /**
+     * The angular inertia along the principal inertia axes of the rigid-body.
+     */
+    public principalInertia(): Vector {
+        return VectorOps.fromRaw(this.rawSet.rbPrincipalInertia(this.handle));
+    }
+
+    // #endif
+
+    // #if DIM3
+    /**
+     * The principal vectors of the local angular inertia tensor of the rigid-body.
+     */
+    public principalInertiaLocalFrame(): Rotation {
+        return RotationOps.fromRaw(
+            this.rawSet.rbPrincipalInertiaLocalFrame(this.handle),
+        );
+    }
+
+    // #endif
+
+    // #if DIM2
+    /**
+     * The world-space inverse angular inertia tensor of the rigid-body,
+     * taking into account rotation locking.
+     */
+    public effectiveWorldInvInertia(): number {
+        return this.rawSet.rbEffectiveWorldInvInertia(this.handle);
+    }
+
+    // #endif
+
+    // #if DIM3
+    /**
+     * The world-space inverse angular inertia tensor of the rigid-body,
+     * taking into account rotation locking.
+     */
+    public effectiveWorldInvInertia(): SdpMatrix3 {
+        return SdpMatrix3Ops.fromRaw(
+            this.rawSet.rbEffectiveWorldInvInertia(this.handle),
+        );
+    }
+
+    // #endif
+
+    // #if DIM2
+    /**
+     * The effective world-space angular inertia (that takes the potential rotation locking into account) of
+     * this rigid-body.
+     */
+    public effectiveAngularInertia(): number {
+        return this.rawSet.rbEffectiveAngularInertia(this.handle);
+    }
+
+    // #endif
+
+    // #if DIM3
+    /**
+     * The effective world-space angular inertia (that takes the potential rotation locking into account) of
+     * this rigid-body.
+     */
+    public effectiveAngularInertia(): SdpMatrix3 {
+        return SdpMatrix3Ops.fromRaw(
+            this.rawSet.rbEffectiveAngularInertia(this.handle),
+        );
+    }
+
+    // #endif
+
+    /**
+     * Put this rigid body to sleep.
+     *
+     * A sleeping body no longer moves and is no longer simulated by the physics engine unless
+     * it is waken up. It can be woken manually with `this.wakeUp()` or automatically due to
+     * external forces like contacts.
+     */
+    public sleep() {
+        this.rawSet.rbSleep(this.handle);
+    }
+
+    /**
+     * Wakes this rigid-body up.
+     *
+     * A dynamic rigid-body that does not move during several consecutive frames will
+     * be put to sleep by the physics engine, i.e., it will stop being simulated in order
+     * to avoid useless computations.
+     * This methods forces a sleeping rigid-body to wake-up. This is useful, e.g., before modifying
+     * the position of a dynamic body so that it is properly simulated afterwards.
+     */
+    public wakeUp() {
+        this.rawSet.rbWakeUp(this.handle);
+    }
+
+    /**
+     * Is CCD enabled for this rigid-body?
+     */
+    public isCcdEnabled(): boolean {
+        return this.rawSet.rbIsCcdEnabled(this.handle);
+    }
+
+    /**
+     * The number of colliders attached to this rigid-body.
+     */
+    public numColliders(): number {
+        return this.rawSet.rbNumColliders(this.handle);
+    }
+
+    /**
+     * Retrieves the `i-th` collider attached to this rigid-body.
+     *
+     * @param i - The index of the collider to retrieve. Must be a number in `[0, this.numColliders()[`.
+     *         This index is **not** the same as the unique identifier of the collider.
+     */
+    public collider(i: number): Collider {
+        return this.colliderSet.get(this.rawSet.rbCollider(this.handle, i));
+    }
+
+    /**
+     * Sets whether this rigid-body is enabled or not.
+     *
+     * @param enabled - Set to `false` to disable this rigid-body and all its attached colliders.
+     */
+    public setEnabled(enabled: boolean) {
+        this.rawSet.rbSetEnabled(this.handle, enabled);
+    }
+
+    /**
+     * Is this rigid-body enabled?
+     */
+    public isEnabled(): boolean {
+        return this.rawSet.rbIsEnabled(this.handle);
+    }
+
+    /**
+     * The status of this rigid-body: static, dynamic, or kinematic.
+     */
+    public bodyType(): RigidBodyType {
+        return this.rawSet.rbBodyType(this.handle) as number as RigidBodyType;
+    }
+
+    /**
+     * Set a new status for this rigid-body: static, dynamic, or kinematic.
+     */
+    public setBodyType(type: RigidBodyType, wakeUp: boolean) {
+        return this.rawSet.rbSetBodyType(
+            this.handle,
+            type as number as RawRigidBodyType,
+            wakeUp,
+        );
+    }
+
+    /**
+     * Is this rigid-body sleeping?
+     */
+    public isSleeping(): boolean {
+        return this.rawSet.rbIsSleeping(this.handle);
+    }
+
+    /**
+     * Is the velocity of this rigid-body not zero?
+     */
+    public isMoving(): boolean {
+        return this.rawSet.rbIsMoving(this.handle);
+    }
+
+    /**
+     * Is this rigid-body static?
+     */
+    public isFixed(): boolean {
+        return this.rawSet.rbIsFixed(this.handle);
+    }
+
+    /**
+     * Is this rigid-body kinematic?
+     */
+    public isKinematic(): boolean {
+        return this.rawSet.rbIsKinematic(this.handle);
+    }
+
+    /**
+     * Is this rigid-body dynamic?
+     */
+    public isDynamic(): boolean {
+        return this.rawSet.rbIsDynamic(this.handle);
+    }
+
+    /**
+     * The linear damping coefficient of this rigid-body.
+     */
+    public linearDamping(): number {
+        return this.rawSet.rbLinearDamping(this.handle);
+    }
+
+    /**
+     * The angular damping coefficient of this rigid-body.
+     */
+    public angularDamping(): number {
+        return this.rawSet.rbAngularDamping(this.handle);
+    }
+
+    /**
+     * Sets the linear damping factor applied to this rigid-body.
+     *
+     * @param factor - The damping factor to set.
+     */
+    public setLinearDamping(factor: number) {
+        this.rawSet.rbSetLinearDamping(this.handle, factor);
+    }
+
+    /**
+     * Recompute the mass-properties of this rigid-bodies based on its currently attached colliders.
+     */
+    public recomputeMassPropertiesFromColliders() {
+        this.rawSet.rbRecomputeMassPropertiesFromColliders(
+            this.handle,
+            this.colliderSet.raw,
+        );
+    }
+
+    /**
+     * Sets the rigid-body's additional mass.
+     *
+     * The total angular inertia of the rigid-body will be scaled automatically based on this additional mass. If this
+     * scaling effect isn’t desired, use Self::additional_mass_properties instead of this method.
+     *
+     * This is only the "additional" mass because the total mass of the rigid-body is equal to the sum of this
+     * additional mass and the mass computed from the colliders (with non-zero densities) attached to this rigid-body.
+     *
+     * That total mass (which includes the attached colliders’ contributions) will be updated at the name physics step,
+     * or can be updated manually with `this.recomputeMassPropertiesFromColliders`.
+     *
+     * This will override any previous additional mass-properties set by `this.setAdditionalMass`,
+     * `this.setAdditionalMassProperties`, `RigidBodyDesc::setAdditionalMass`, or
+     * `RigidBodyDesc.setAdditionalMassfProperties` for this rigid-body.
+     *
+     * @param mass - The additional mass to set.
+     * @param wakeUp - If `true` then the rigid-body will be woken up if it was put to sleep because it did not move for a while.
+     */
+    public setAdditionalMass(mass: number, wakeUp: boolean) {
+        this.rawSet.rbSetAdditionalMass(this.handle, mass, wakeUp);
+    }
+
+    // #if DIM3
+    /**
+     * Sets the rigid-body's additional mass-properties.
+     *
+     * This is only the "additional" mass-properties because the total mass-properties of the rigid-body is equal to the
+     * sum of this additional mass-properties and the mass computed from the colliders (with non-zero densities) attached
+     * to this rigid-body.
+     *
+     * That total mass-properties (which include the attached colliders’ contributions) will be updated at the name
+     * physics step, or can be updated manually with `this.recomputeMassPropertiesFromColliders`.
+     *
+     * This will override any previous mass-properties set by `this.setAdditionalMass`,
+     * `this.setAdditionalMassProperties`, `RigidBodyDesc.setAdditionalMass`, or `RigidBodyDesc.setAdditionalMassProperties`
+     * for this rigid-body.
+     *
+     * If `wake_up` is true then the rigid-body will be woken up if it was put to sleep because it did not move for a while.
+     */
+    public setAdditionalMassProperties(
+        mass: number,
+        centerOfMass: Vector,
+        principalAngularInertia: Vector,
+        angularInertiaLocalFrame: Rotation,
+        wakeUp: boolean,
+    ) {
+        let rawCom = VectorOps.intoRaw(centerOfMass);
+        let rawPrincipalInertia = VectorOps.intoRaw(principalAngularInertia);
+        let rawInertiaFrame = RotationOps.intoRaw(angularInertiaLocalFrame);
+
+        this.rawSet.rbSetAdditionalMassProperties(
+            this.handle,
+            mass,
+            rawCom,
+            rawPrincipalInertia,
+            rawInertiaFrame,
+            wakeUp,
+        );
+
+        rawCom.free();
+        rawPrincipalInertia.free();
+        rawInertiaFrame.free();
+    }
+
+    // #endif
+
+    // #if DIM2
+    /**
+     * Sets the rigid-body's additional mass-properties.
+     *
+     * This is only the "additional" mass-properties because the total mass-properties of the rigid-body is equal to the
+     * sum of this additional mass-properties and the mass computed from the colliders (with non-zero densities) attached
+     * to this rigid-body.
+     *
+     * That total mass-properties (which include the attached colliders’ contributions) will be updated at the name
+     * physics step, or can be updated manually with `this.recomputeMassPropertiesFromColliders`.
+     *
+     * This will override any previous mass-properties set by `this.setAdditionalMass`,
+     * `this.setAdditionalMassProperties`, `RigidBodyDesc.setAdditionalMass`, or `RigidBodyDesc.setAdditionalMassProperties`
+     * for this rigid-body.
+     *
+     * If `wake_up` is true then the rigid-body will be woken up if it was put to sleep because it did not move for a while.
+     */
+    public setAdditionalMassProperties(
+        mass: number,
+        centerOfMass: Vector,
+        principalAngularInertia: number,
+        wakeUp: boolean,
+    ) {
+        let rawCom = VectorOps.intoRaw(centerOfMass);
+        this.rawSet.rbSetAdditionalMassProperties(
+            this.handle,
+            mass,
+            rawCom,
+            principalAngularInertia,
+            wakeUp,
+        );
+        rawCom.free();
+    }
+
+    // #endif
+
+    /**
+     * Sets the linear damping factor applied to this rigid-body.
+     *
+     * @param factor - The damping factor to set.
+     */
+    public setAngularDamping(factor: number) {
+        this.rawSet.rbSetAngularDamping(this.handle, factor);
+    }
+
+    /**
+     * Resets to zero the user forces (but not torques) applied to this rigid-body.
+     *
+     * @param wakeUp - should the rigid-body be automatically woken-up?
+     */
+    public resetForces(wakeUp: boolean) {
+        this.rawSet.rbResetForces(this.handle, wakeUp);
+    }
+
+    /**
+     * Resets to zero the user torques applied to this rigid-body.
+     *
+     * @param wakeUp - should the rigid-body be automatically woken-up?
+     */
+    public resetTorques(wakeUp: boolean) {
+        this.rawSet.rbResetTorques(this.handle, wakeUp);
+    }
+
+    /**
+     * Adds a force at the center-of-mass of this rigid-body.
+     *
+     * @param force - the world-space force to add to the rigid-body.
+     * @param wakeUp - should the rigid-body be automatically woken-up?
+     */
+    public addForce(force: Vector, wakeUp: boolean) {
+        const rawForce = VectorOps.intoRaw(force);
+        this.rawSet.rbAddForce(this.handle, rawForce, wakeUp);
+        rawForce.free();
+    }
+
+    /**
+     * Applies an impulse at the center-of-mass of this rigid-body.
+     *
+     * @param impulse - the world-space impulse to apply on the rigid-body.
+     * @param wakeUp - should the rigid-body be automatically woken-up?
+     */
+    public applyImpulse(impulse: Vector, wakeUp: boolean) {
+        const rawImpulse = VectorOps.intoRaw(impulse);
+        this.rawSet.rbApplyImpulse(this.handle, rawImpulse, wakeUp);
+        rawImpulse.free();
+    }
+
+    // #if DIM2
+    /**
+     * Adds a torque at the center-of-mass of this rigid-body.
+     *
+     * @param torque - the torque to add to the rigid-body.
+     * @param wakeUp - should the rigid-body be automatically woken-up?
+     */
+    public addTorque(torque: number, wakeUp: boolean) {
+        this.rawSet.rbAddTorque(this.handle, torque, wakeUp);
+    }
+
+    // #endif
+
+    // #if DIM3
+    /**
+     * Adds a torque at the center-of-mass of this rigid-body.
+     *
+     * @param torque - the world-space torque to add to the rigid-body.
+     * @param wakeUp - should the rigid-body be automatically woken-up?
+     */
+    public addTorque(torque: Vector, wakeUp: boolean) {
+        const rawTorque = VectorOps.intoRaw(torque);
+        this.rawSet.rbAddTorque(this.handle, rawTorque, wakeUp);
+        rawTorque.free();
+    }
+
+    // #endif
+
+    // #if DIM2
+    /**
+     * Applies an impulsive torque at the center-of-mass of this rigid-body.
+     *
+     * @param torqueImpulse - the torque impulse to apply on the rigid-body.
+     * @param wakeUp - should the rigid-body be automatically woken-up?
+     */
+    public applyTorqueImpulse(torqueImpulse: number, wakeUp: boolean) {
+        this.rawSet.rbApplyTorqueImpulse(this.handle, torqueImpulse, wakeUp);
+    }
+
+    // #endif
+
+    // #if DIM3
+    /**
+     * Applies an impulsive torque at the center-of-mass of this rigid-body.
+     *
+     * @param torqueImpulse - the world-space torque impulse to apply on the rigid-body.
+     * @param wakeUp - should the rigid-body be automatically woken-up?
+     */
+    public applyTorqueImpulse(torqueImpulse: Vector, wakeUp: boolean) {
+        const rawTorqueImpulse = VectorOps.intoRaw(torqueImpulse);
+        this.rawSet.rbApplyTorqueImpulse(this.handle, rawTorqueImpulse, wakeUp);
+        rawTorqueImpulse.free();
+    }
+
+    // #endif
+
+    /**
+     * Adds a force at the given world-space point of this rigid-body.
+     *
+     * @param force - the world-space force to add to the rigid-body.
+     * @param point - the world-space point where the impulse is to be applied on the rigid-body.
+     * @param wakeUp - should the rigid-body be automatically woken-up?
+     */
+    public addForceAtPoint(force: Vector, point: Vector, wakeUp: boolean) {
+        const rawForce = VectorOps.intoRaw(force);
+        const rawPoint = VectorOps.intoRaw(point);
+        this.rawSet.rbAddForceAtPoint(this.handle, rawForce, rawPoint, wakeUp);
+        rawForce.free();
+        rawPoint.free();
+    }
+
+    /**
+     * Applies an impulse at the given world-space point of this rigid-body.
+     *
+     * @param impulse - the world-space impulse to apply on the rigid-body.
+     * @param point - the world-space point where the impulse is to be applied on the rigid-body.
+     * @param wakeUp - should the rigid-body be automatically woken-up?
+     */
+    public applyImpulseAtPoint(
+        impulse: Vector,
+        point: Vector,
+        wakeUp: boolean,
+    ) {
+        const rawImpulse = VectorOps.intoRaw(impulse);
+        const rawPoint = VectorOps.intoRaw(point);
+        this.rawSet.rbApplyImpulseAtPoint(
+            this.handle,
+            rawImpulse,
+            rawPoint,
+            wakeUp,
+        );
+        rawImpulse.free();
+        rawPoint.free();
+    }
+
+    /**
+     * Retrieves the constant force(s) the user added to this rigid-body
+     * Returns zero if the rigid-body is not dynamic.
+     */
+    public userForce(): Vector {
+        return VectorOps.fromRaw(this.rawSet.rbUserForce(this.handle));
+    }
+
+    // #if DIM2
+    /**
+     * Retrieves the constant torque(s) the user added to this rigid-body
+     * Returns zero if the rigid-body is not dynamic.
+     */
+    public userTorque(): number {
+        return this.rawSet.rbUserTorque(this.handle);
+    }
+    // #endif
+
+    // #if DIM3
+    /**
+     * Retrieves the constant torque(s) the user added to this rigid-body
+     * Returns zero if the rigid-body is not dynamic.
+     */
+    public userTorque(): Vector {
+        return VectorOps.fromRaw(this.rawSet.rbUserTorque(this.handle));
+    }
+    // #endif
+}
+
+export class RigidBodyDesc {
+    enabled: boolean;
+    translation: Vector;
+    rotation: Rotation;
+    gravityScale: number;
+    mass: number;
+    massOnly: boolean;
+    centerOfMass: Vector;
+    translationsEnabledX: boolean;
+    translationsEnabledY: boolean;
+    linvel: Vector;
+    // #if DIM2
+    angvel: number;
+    principalAngularInertia: number;
+    rotationsEnabled: boolean;
+    // #endif
+    // #if DIM3
+    angvel: Vector;
+    principalAngularInertia: Vector;
+    angularInertiaLocalFrame: Rotation;
+    translationsEnabledZ: boolean;
+    rotationsEnabledX: boolean;
+    rotationsEnabledY: boolean;
+    rotationsEnabledZ: boolean;
+    // #endif
+    linearDamping: number;
+    angularDamping: number;
+    status: RigidBodyType;
+    canSleep: boolean;
+    sleeping: boolean;
+    ccdEnabled: boolean;
+    softCcdPrediction: number;
+    dominanceGroup: number;
+    additionalSolverIterations: number;
+    userData?: unknown;
+
+    constructor(status: RigidBodyType) {
+        this.enabled = true;
+        this.status = status;
+        this.translation = VectorOps.zeros();
+        this.rotation = RotationOps.identity();
+        this.gravityScale = 1.0;
+        this.linvel = VectorOps.zeros();
+        this.mass = 0.0;
+        this.massOnly = false;
+        this.centerOfMass = VectorOps.zeros();
+        this.translationsEnabledX = true;
+        this.translationsEnabledY = true;
+        // #if DIM2
+        this.angvel = 0.0;
+        this.principalAngularInertia = 0.0;
+        this.rotationsEnabled = true;
+        // #endif
+        // #if DIM3
+        this.angvel = VectorOps.zeros();
+        this.principalAngularInertia = VectorOps.zeros();
+        this.angularInertiaLocalFrame = RotationOps.identity();
+        this.translationsEnabledZ = true;
+        this.rotationsEnabledX = true;
+        this.rotationsEnabledY = true;
+        this.rotationsEnabledZ = true;
+        // #endif
+        this.linearDamping = 0.0;
+        this.angularDamping = 0.0;
+        this.canSleep = true;
+        this.sleeping = false;
+        this.ccdEnabled = false;
+        this.softCcdPrediction = 0.0;
+        this.dominanceGroup = 0;
+        this.additionalSolverIterations = 0;
+    }
+
+    /**
+     * A rigid-body descriptor used to build a dynamic rigid-body.
+     */
+    public static dynamic(): RigidBodyDesc {
+        return new RigidBodyDesc(RigidBodyType.Dynamic);
+    }
+
+    /**
+     * A rigid-body descriptor used to build a position-based kinematic rigid-body.
+     */
+    public static kinematicPositionBased(): RigidBodyDesc {
+        return new RigidBodyDesc(RigidBodyType.KinematicPositionBased);
+    }
+
+    /**
+     * A rigid-body descriptor used to build a velocity-based kinematic rigid-body.
+     */
+    public static kinematicVelocityBased(): RigidBodyDesc {
+        return new RigidBodyDesc(RigidBodyType.KinematicVelocityBased);
+    }
+
+    /**
+     * A rigid-body descriptor used to build a fixed rigid-body.
+     */
+    public static fixed(): RigidBodyDesc {
+        return new RigidBodyDesc(RigidBodyType.Fixed);
+    }
+
+    /**
+     * A rigid-body descriptor used to build a dynamic rigid-body.
+     *
+     * @deprecated The method has been renamed to `.dynamic()`.
+     */
+    public static newDynamic(): RigidBodyDesc {
+        return new RigidBodyDesc(RigidBodyType.Dynamic);
+    }
+
+    /**
+     * A rigid-body descriptor used to build a position-based kinematic rigid-body.
+     *
+     * @deprecated The method has been renamed to `.kinematicPositionBased()`.
+     */
+    public static newKinematicPositionBased(): RigidBodyDesc {
+        return new RigidBodyDesc(RigidBodyType.KinematicPositionBased);
+    }
+
+    /**
+     * A rigid-body descriptor used to build a velocity-based kinematic rigid-body.
+     *
+     * @deprecated The method has been renamed to `.kinematicVelocityBased()`.
+     */
+    public static newKinematicVelocityBased(): RigidBodyDesc {
+        return new RigidBodyDesc(RigidBodyType.KinematicVelocityBased);
+    }
+
+    /**
+     * A rigid-body descriptor used to build a fixed rigid-body.
+     *
+     * @deprecated The method has been renamed to `.fixed()`.
+     */
+    public static newStatic(): RigidBodyDesc {
+        return new RigidBodyDesc(RigidBodyType.Fixed);
+    }
+
+    public setDominanceGroup(group: number): RigidBodyDesc {
+        this.dominanceGroup = group;
+        return this;
+    }
+
+    /**
+     * Sets the number of additional solver iterations that will be run for this
+     * rigid-body and everything that interacts with it directly or indirectly
+     * through contacts or joints.
+     *
+     * Compared to increasing the global `World.numSolverIteration`, setting this
+     * value lets you increase accuracy on only a subset of the scene, resulting in reduced
+     * performance loss.
+     *
+     * @param iters - The new number of additional solver iterations (default: 0).
+     */
+    public setAdditionalSolverIterations(iters: number): RigidBodyDesc {
+        this.additionalSolverIterations = iters;
+        return this;
+    }
+
+    /**
+     * Sets whether the created rigid-body will be enabled or disabled.
+     * @param enabled − If set to `false` the rigid-body will be disabled at creation.
+     */
+    public setEnabled(enabled: boolean): RigidBodyDesc {
+        this.enabled = enabled;
+        return this;
+    }
+
+    // #if DIM2
+    /**
+     * Sets the initial translation of the rigid-body to create.
+     */
+    public setTranslation(x: number, y: number): RigidBodyDesc {
+        if (typeof x != "number" || typeof y != "number")
+            throw TypeError("The translation components must be numbers.");
+
+        this.translation = {x: x, y: y};
+        return this;
+    }
+
+    // #endif
+
+    // #if DIM3
+    /**
+     * Sets the initial translation of the rigid-body to create.
+     *
+     * @param tra - The translation to set.
+     */
+    public setTranslation(x: number, y: number, z: number): RigidBodyDesc {
+        if (
+            typeof x != "number" ||
+            typeof y != "number" ||
+            typeof z != "number"
+        )
+            throw TypeError("The translation components must be numbers.");
+
+        this.translation = {x: x, y: y, z: z};
+        return this;
+    }
+
+    // #endif
+
+    /**
+     * Sets the initial rotation of the rigid-body to create.
+     *
+     * @param rot - The rotation to set.
+     */
+    public setRotation(rot: Rotation): RigidBodyDesc {
+        // #if DIM2
+        this.rotation = rot;
+        // #endif
+        // #if DIM3
+        RotationOps.copy(this.rotation, rot);
+        // #endif
+        return this;
+    }
+
+    /**
+     * Sets the scale factor applied to the gravity affecting
+     * the rigid-body being built.
+     *
+     * @param scale - The scale factor. Set this to `0.0` if the rigid-body
+     *   needs to ignore gravity.
+     */
+    public setGravityScale(scale: number): RigidBodyDesc {
+        this.gravityScale = scale;
+        return this;
+    }
+
+    /**
+     * Sets the initial mass of the rigid-body being built, before adding colliders' contributions.
+     *
+     * @param mass − The initial mass of the rigid-body to create.
+     */
+    public setAdditionalMass(mass: number): RigidBodyDesc {
+        this.mass = mass;
+        this.massOnly = true;
+        return this;
+    }
+
+    // #if DIM2
+    /**
+     * Sets the initial linear velocity of the rigid-body to create.
+     *
+     * @param x - The linear velocity to set along the `x` axis.
+     * @param y - The linear velocity to set along the `y` axis.
+     */
+    public setLinvel(x: number, y: number): RigidBodyDesc {
+        if (typeof x != "number" || typeof y != "number")
+            throw TypeError("The linvel components must be numbers.");
+
+        this.linvel = {x: x, y: y};
+        return this;
+    }
+
+    /**
+     * Sets the initial angular velocity of the rigid-body to create.
+     *
+     * @param vel - The angular velocity to set.
+     */
+    public setAngvel(vel: number): RigidBodyDesc {
+        this.angvel = vel;
+        return this;
+    }
+
+    /**
+     * Sets the mass properties of the rigid-body being built.
+     *
+     * Note that the final mass properties of the rigid-bodies depends
+     * on the initial mass-properties of the rigid-body (set by this method)
+     * to which is added the contributions of all the colliders with non-zero density
+     * attached to this rigid-body.
+     *
+     * Therefore, if you want your provided mass properties to be the final
+     * mass properties of your rigid-body, don't attach colliders to it, or
+     * only attach colliders with densities equal to zero.
+     *
+     * @param mass − The initial mass of the rigid-body to create.
+     * @param centerOfMass − The initial center-of-mass of the rigid-body to create.
+     * @param principalAngularInertia − The initial principal angular inertia of the rigid-body to create.
+     */
+    public setAdditionalMassProperties(
+        mass: number,
+        centerOfMass: Vector,
+        principalAngularInertia: number,
+    ): RigidBodyDesc {
+        this.mass = mass;
+        VectorOps.copy(this.centerOfMass, centerOfMass);
+        this.principalAngularInertia = principalAngularInertia;
+        this.massOnly = false;
+        return this;
+    }
+
+    /**
+     * Allow translation of this rigid-body only along specific axes.
+     * @param translationsEnabledX - Are translations along the X axis enabled?
+     * @param translationsEnabledY - Are translations along the y axis enabled?
+     */
+    public enabledTranslations(
+        translationsEnabledX: boolean,
+        translationsEnabledY: boolean,
+    ): RigidBodyDesc {
+        this.translationsEnabledX = translationsEnabledX;
+        this.translationsEnabledY = translationsEnabledY;
+        return this;
+    }
+
+    /**
+     * Allow translation of this rigid-body only along specific axes.
+     * @param translationsEnabledX - Are translations along the X axis enabled?
+     * @param translationsEnabledY - Are translations along the y axis enabled?
+     * @deprecated use `this.enabledTranslations` with the same arguments instead.
+     */
+    public restrictTranslations(
+        translationsEnabledX: boolean,
+        translationsEnabledY: boolean,
+    ): RigidBodyDesc {
+        return this.enabledTranslations(
+            translationsEnabledX,
+            translationsEnabledY,
+        );
+    }
+
+    /**
+     * Locks all translations that would have resulted from forces on
+     * the created rigid-body.
+     */
+    public lockTranslations(): RigidBodyDesc {
+        return this.restrictTranslations(false, false);
+    }
+
+    /**
+     * Locks all rotations that would have resulted from forces on
+     * the created rigid-body.
+     */
+    public lockRotations(): RigidBodyDesc {
+        this.rotationsEnabled = false;
+        return this;
+    }
+
+    // #endif
+
+    // #if DIM3
+    /**
+     * Sets the initial linear velocity of the rigid-body to create.
+     *
+     * @param x - The linear velocity to set along the `x` axis.
+     * @param y - The linear velocity to set along the `y` axis.
+     * @param z - The linear velocity to set along the `z` axis.
+     */
+    public setLinvel(x: number, y: number, z: number): RigidBodyDesc {
+        if (
+            typeof x != "number" ||
+            typeof y != "number" ||
+            typeof z != "number"
+        )
+            throw TypeError("The linvel components must be numbers.");
+
+        this.linvel = {x: x, y: y, z: z};
+        return this;
+    }
+
+    /**
+     * Sets the initial angular velocity of the rigid-body to create.
+     *
+     * @param vel - The angular velocity to set.
+     */
+    public setAngvel(vel: Vector): RigidBodyDesc {
+        VectorOps.copy(this.angvel, vel);
+        return this;
+    }
+
+    /**
+     * Sets the mass properties of the rigid-body being built.
+     *
+     * Note that the final mass properties of the rigid-bodies depends
+     * on the initial mass-properties of the rigid-body (set by this method)
+     * to which is added the contributions of all the colliders with non-zero density
+     * attached to this rigid-body.
+     *
+     * Therefore, if you want your provided mass properties to be the final
+     * mass properties of your rigid-body, don't attach colliders to it, or
+     * only attach colliders with densities equal to zero.
+     *
+     * @param mass − The initial mass of the rigid-body to create.
+     * @param centerOfMass − The initial center-of-mass of the rigid-body to create.
+     * @param principalAngularInertia − The initial principal angular inertia of the rigid-body to create.
+     *                                  These are the eigenvalues of the angular inertia matrix.
+     * @param angularInertiaLocalFrame − The initial local angular inertia frame of the rigid-body to create.
+     *                                   These are the eigenvectors of the angular inertia matrix.
+     */
+    public setAdditionalMassProperties(
+        mass: number,
+        centerOfMass: Vector,
+        principalAngularInertia: Vector,
+        angularInertiaLocalFrame: Rotation,
+    ): RigidBodyDesc {
+        this.mass = mass;
+        VectorOps.copy(this.centerOfMass, centerOfMass);
+        VectorOps.copy(this.principalAngularInertia, principalAngularInertia);
+        RotationOps.copy(
+            this.angularInertiaLocalFrame,
+            angularInertiaLocalFrame,
+        );
+        this.massOnly = false;
+        return this;
+    }
+
+    /**
+     * Allow translation of this rigid-body only along specific axes.
+     * @param translationsEnabledX - Are translations along the X axis enabled?
+     * @param translationsEnabledY - Are translations along the y axis enabled?
+     * @param translationsEnabledZ - Are translations along the Z axis enabled?
+     */
+    public enabledTranslations(
+        translationsEnabledX: boolean,
+        translationsEnabledY: boolean,
+        translationsEnabledZ: boolean,
+    ): RigidBodyDesc {
+        this.translationsEnabledX = translationsEnabledX;
+        this.translationsEnabledY = translationsEnabledY;
+        this.translationsEnabledZ = translationsEnabledZ;
+        return this;
+    }
+
+    /**
+     * Allow translation of this rigid-body only along specific axes.
+     * @param translationsEnabledX - Are translations along the X axis enabled?
+     * @param translationsEnabledY - Are translations along the y axis enabled?
+     * @param translationsEnabledZ - Are translations along the Z axis enabled?
+     * @deprecated use `this.enabledTranslations` with the same arguments instead.
+     */
+    public restrictTranslations(
+        translationsEnabledX: boolean,
+        translationsEnabledY: boolean,
+        translationsEnabledZ: boolean,
+    ): RigidBodyDesc {
+        return this.enabledTranslations(
+            translationsEnabledX,
+            translationsEnabledY,
+            translationsEnabledZ,
+        );
+    }
+
+    /**
+     * Locks all translations that would have resulted from forces on
+     * the created rigid-body.
+     */
+    public lockTranslations(): RigidBodyDesc {
+        return this.enabledTranslations(false, false, false);
+    }
+
+    /**
+     * Allow rotation of this rigid-body only along specific axes.
+     * @param rotationsEnabledX - Are rotations along the X axis enabled?
+     * @param rotationsEnabledY - Are rotations along the y axis enabled?
+     * @param rotationsEnabledZ - Are rotations along the Z axis enabled?
+     */
+    public enabledRotations(
+        rotationsEnabledX: boolean,
+        rotationsEnabledY: boolean,
+        rotationsEnabledZ: boolean,
+    ): RigidBodyDesc {
+        this.rotationsEnabledX = rotationsEnabledX;
+        this.rotationsEnabledY = rotationsEnabledY;
+        this.rotationsEnabledZ = rotationsEnabledZ;
+        return this;
+    }
+
+    /**
+     * Allow rotation of this rigid-body only along specific axes.
+     * @param rotationsEnabledX - Are rotations along the X axis enabled?
+     * @param rotationsEnabledY - Are rotations along the y axis enabled?
+     * @param rotationsEnabledZ - Are rotations along the Z axis enabled?
+     * @deprecated use `this.enabledRotations` with the same arguments instead.
+     */
+    public restrictRotations(
+        rotationsEnabledX: boolean,
+        rotationsEnabledY: boolean,
+        rotationsEnabledZ: boolean,
+    ): RigidBodyDesc {
+        return this.enabledRotations(
+            rotationsEnabledX,
+            rotationsEnabledY,
+            rotationsEnabledZ,
+        );
+    }
+
+    /**
+     * Locks all rotations that would have resulted from forces on
+     * the created rigid-body.
+     */
+    public lockRotations(): RigidBodyDesc {
+        return this.restrictRotations(false, false, false);
+    }
+
+    // #endif
+
+    /**
+     * Sets the linear damping of the rigid-body to create.
+     *
+     * This will progressively slowdown the translational movement of the rigid-body.
+     *
+     * @param damping - The angular damping coefficient. Should be >= 0. The higher this
+     *                  value is, the stronger the translational slowdown will be.
+     */
+    public setLinearDamping(damping: number): RigidBodyDesc {
+        this.linearDamping = damping;
+        return this;
+    }
+
+    /**
+     * Sets the angular damping of the rigid-body to create.
+     *
+     * This will progressively slowdown the rotational movement of the rigid-body.
+     *
+     * @param damping - The angular damping coefficient. Should be >= 0. The higher this
+     *                  value is, the stronger the rotational slowdown will be.
+     */
+    public setAngularDamping(damping: number): RigidBodyDesc {
+        this.angularDamping = damping;
+        return this;
+    }
+
+    /**
+     * Sets whether or not the rigid-body to create can sleep.
+     *
+     * @param can - true if the rigid-body can sleep, false if it can't.
+     */
+    public setCanSleep(can: boolean): RigidBodyDesc {
+        this.canSleep = can;
+        return this;
+    }
+
+    /**
+     * Sets whether or not the rigid-body is to be created asleep.
+     *
+     * @param can - true if the rigid-body should be in sleep, default false.
+     */
+    setSleeping(sleeping: boolean): RigidBodyDesc {
+        this.sleeping = sleeping;
+        return this;
+    }
+
+    /**
+     * Sets whether Continuous Collision Detection (CCD) is enabled for this rigid-body.
+     *
+     * @param enabled - true if the rigid-body has CCD enabled.
+     */
+    public setCcdEnabled(enabled: boolean): RigidBodyDesc {
+        this.ccdEnabled = enabled;
+        return this;
+    }
+
+    /**
+     * Sets the maximum prediction distance Soft Continuous Collision-Detection.
+     *
+     * When set to 0, soft-CCD is disabled. Soft-CCD helps prevent tunneling especially of
+     * slow-but-thin to moderately fast objects. The soft CCD prediction distance indicates how
+     * far in the object’s path the CCD algorithm is allowed to inspect. Large values can impact
+     * performance badly by increasing the work needed from the broad-phase.
+     *
+     * It is a generally cheaper variant of regular CCD (that can be enabled with
+     * `RigidBodyDesc::setCcdEnabled` since it relies on predictive constraints instead of
+     * shape-cast and substeps.
+     */
+    public setSoftCcdPrediction(distance: number): RigidBodyDesc {
+        this.softCcdPrediction = distance;
+        return this;
+    }
+
+    /**
+     * Sets the user-defined object of this rigid-body.
+     *
+     * @param userData - The user-defined object to set.
+     */
+    public setUserData(data?: unknown): RigidBodyDesc {
+        this.userData = data;
+        return this;
+    }
+}
diff --git a/thirdparty/rapier.js/src.ts/dynamics/rigid_body_set.ts b/thirdparty/rapier.js/src.ts/dynamics/rigid_body_set.ts
new file mode 100644
index 00000000..4c2e47bd
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/dynamics/rigid_body_set.ts
@@ -0,0 +1,238 @@
+import {RawRigidBodySet, RawRigidBodyType} from "../raw";
+import {Coarena} from "../coarena";
+import {VectorOps, RotationOps} from "../math";
+import {
+    RigidBody,
+    RigidBodyDesc,
+    RigidBodyHandle,
+    RigidBodyType,
+} from "./rigid_body";
+import {ColliderSet} from "../geometry";
+import {ImpulseJointSet} from "./impulse_joint_set";
+import {MultibodyJointSet} from "./multibody_joint_set";
+import {IslandManager} from "./island_manager";
+
+/**
+ * A set of rigid bodies that can be handled by a physics pipeline.
+ *
+ * To avoid leaking WASM resources, this MUST be freed manually with `rigidBodySet.free()`
+ * once you are done using it (and all the rigid-bodies it created).
+ */
+export class RigidBodySet {
+    raw: RawRigidBodySet;
+    private map: Coarena<RigidBody>;
+
+    /**
+     * Release the WASM memory occupied by this rigid-body set.
+     */
+    public free() {
+        if (!!this.raw) {
+            this.raw.free();
+        }
+        this.raw = undefined;
+
+        if (!!this.map) {
+            this.map.clear();
+        }
+        this.map = undefined;
+    }
+
+    constructor(raw?: RawRigidBodySet) {
+        this.raw = raw || new RawRigidBodySet();
+        this.map = new Coarena<RigidBody>();
+        // deserialize
+        if (raw) {
+            raw.forEachRigidBodyHandle((handle: RigidBodyHandle) => {
+                this.map.set(handle, new RigidBody(raw, null, handle));
+            });
+        }
+    }
+
+    /**
+     * Internal method, do not call this explicitly.
+     */
+    public finalizeDeserialization(colliderSet: ColliderSet) {
+        this.map.forEach((rb) => rb.finalizeDeserialization(colliderSet));
+    }
+
+    /**
+     * Creates a new rigid-body and return its integer handle.
+     *
+     * @param desc - The description of the rigid-body to create.
+     */
+    public createRigidBody(
+        colliderSet: ColliderSet,
+        desc: RigidBodyDesc,
+    ): RigidBody {
+        let rawTra = VectorOps.intoRaw(desc.translation);
+        let rawRot = RotationOps.intoRaw(desc.rotation);
+        let rawLv = VectorOps.intoRaw(desc.linvel);
+        let rawCom = VectorOps.intoRaw(desc.centerOfMass);
+
+        // #if DIM3
+        let rawAv = VectorOps.intoRaw(desc.angvel);
+        let rawPrincipalInertia = VectorOps.intoRaw(
+            desc.principalAngularInertia,
+        );
+        let rawInertiaFrame = RotationOps.intoRaw(
+            desc.angularInertiaLocalFrame,
+        );
+        // #endif
+
+        let handle = this.raw.createRigidBody(
+            desc.enabled,
+            rawTra,
+            rawRot,
+            desc.gravityScale,
+            desc.mass,
+            desc.massOnly,
+            rawCom,
+            rawLv,
+            // #if DIM2
+            desc.angvel,
+            desc.principalAngularInertia,
+            desc.translationsEnabledX,
+            desc.translationsEnabledY,
+            desc.rotationsEnabled,
+            // #endif
+            // #if DIM3
+            rawAv,
+            rawPrincipalInertia,
+            rawInertiaFrame,
+            desc.translationsEnabledX,
+            desc.translationsEnabledY,
+            desc.translationsEnabledZ,
+            desc.rotationsEnabledX,
+            desc.rotationsEnabledY,
+            desc.rotationsEnabledZ,
+            // #endif
+            desc.linearDamping,
+            desc.angularDamping,
+            desc.status as number as RawRigidBodyType,
+            desc.canSleep,
+            desc.sleeping,
+            desc.softCcdPrediction,
+            desc.ccdEnabled,
+            desc.dominanceGroup,
+            desc.additionalSolverIterations,
+        );
+
+        rawTra.free();
+        rawRot.free();
+        rawLv.free();
+        rawCom.free();
+
+        // #if DIM3
+        rawAv.free();
+        rawPrincipalInertia.free();
+        rawInertiaFrame.free();
+        // #endif
+
+        const body = new RigidBody(this.raw, colliderSet, handle);
+        body.userData = desc.userData;
+
+        this.map.set(handle, body);
+
+        return body;
+    }
+
+    /**
+     * Removes a rigid-body from this set.
+     *
+     * This will also remove all the colliders and joints attached to the rigid-body.
+     *
+     * @param handle - The integer handle of the rigid-body to remove.
+     * @param colliders - The set of colliders that may contain colliders attached to the removed rigid-body.
+     * @param impulseJoints - The set of impulse joints that may contain joints attached to the removed rigid-body.
+     * @param multibodyJoints - The set of multibody joints that may contain joints attached to the removed rigid-body.
+     */
+    public remove(
+        handle: RigidBodyHandle,
+        islands: IslandManager,
+        colliders: ColliderSet,
+        impulseJoints: ImpulseJointSet,
+        multibodyJoints: MultibodyJointSet,
+    ) {
+        // Unmap the entities that will be removed automatically because of the rigid-body removals.
+        for (let i = 0; i < this.raw.rbNumColliders(handle); i += 1) {
+            colliders.unmap(this.raw.rbCollider(handle, i));
+        }
+
+        impulseJoints.forEachJointHandleAttachedToRigidBody(handle, (handle) =>
+            impulseJoints.unmap(handle),
+        );
+        multibodyJoints.forEachJointHandleAttachedToRigidBody(
+            handle,
+            (handle) => multibodyJoints.unmap(handle),
+        );
+
+        // Remove the rigid-body.
+        this.raw.remove(
+            handle,
+            islands.raw,
+            colliders.raw,
+            impulseJoints.raw,
+            multibodyJoints.raw,
+        );
+        this.map.delete(handle);
+    }
+
+    /**
+     * The number of rigid-bodies on this set.
+     */
+    public len(): number {
+        return this.map.len();
+    }
+
+    /**
+     * Does this set contain a rigid-body with the given handle?
+     *
+     * @param handle - The rigid-body handle to check.
+     */
+    public contains(handle: RigidBodyHandle): boolean {
+        return this.get(handle) != null;
+    }
+
+    /**
+     * Gets the rigid-body with the given handle.
+     *
+     * @param handle - The handle of the rigid-body to retrieve.
+     */
+    public get(handle: RigidBodyHandle): RigidBody | null {
+        return this.map.get(handle);
+    }
+
+    /**
+     * Applies the given closure to each rigid-body contained by this set.
+     *
+     * @param f - The closure to apply.
+     */
+    public forEach(f: (body: RigidBody) => void) {
+        this.map.forEach(f);
+    }
+
+    /**
+     * Applies the given closure to each active rigid-bodies contained by this set.
+     *
+     * A rigid-body is active if it is not sleeping, i.e., if it moved recently.
+     *
+     * @param f - The closure to apply.
+     */
+    public forEachActiveRigidBody(
+        islands: IslandManager,
+        f: (body: RigidBody) => void,
+    ) {
+        islands.forEachActiveRigidBodyHandle((handle) => {
+            f(this.get(handle));
+        });
+    }
+
+    /**
+     * Gets all rigid-bodies in the list.
+     *
+     * @returns rigid-bodies list.
+     */
+    public getAll(): RigidBody[] {
+        return this.map.getAll();
+    }
+}
diff --git a/thirdparty/rapier.js/src.ts/exports.ts b/thirdparty/rapier.js/src.ts/exports.ts
new file mode 100644
index 00000000..237bd545
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/exports.ts
@@ -0,0 +1,27 @@
+import {version as vers, reserve_memory as reserve} from "./raw";
+
+export function version(): string {
+    return vers();
+}
+
+/// Reserves additional memory in WASM land.
+///
+/// This will grow the internal WASM memory buffer so that it can fit at least
+/// the specified amount of extra bytes. This can help reduce future runtime
+/// overhead due to dynamic internal memory growth once the limit of the
+/// pre-allocated memory is reached.
+///
+/// This feature is still experimental. Due to the nature of the internal
+/// allocator, there can be situations where the allocator decides to perform
+/// additional internal memory growth even though not all `extraBytesCount`
+/// are occupied yet.
+export function reserveMemory(extraBytesCount: number) {
+    reserve(extraBytesCount);
+}
+
+export * from "./math";
+export * from "./dynamics";
+export * from "./geometry";
+export * from "./pipeline";
+export * from "./init";
+export * from "./control";
diff --git a/thirdparty/rapier.js/src.ts/geometry/broad_phase.ts b/thirdparty/rapier.js/src.ts/geometry/broad_phase.ts
new file mode 100644
index 00000000..addaee92
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/geometry/broad_phase.ts
@@ -0,0 +1,520 @@
+import {RawBroadPhase, RawRayColliderIntersection} from "../raw";
+import {RigidBodyHandle, RigidBodySet} from "../dynamics";
+import {ColliderSet} from "./collider_set";
+import {Ray, RayColliderHit, RayColliderIntersection} from "./ray";
+import {InteractionGroups} from "./interaction_groups";
+import {ColliderHandle} from "./collider";
+import {Rotation, RotationOps, Vector, VectorOps} from "../math";
+import {Shape} from "./shape";
+import {PointColliderProjection} from "./point";
+import {ColliderShapeCastHit} from "./toi";
+import {QueryFilterFlags} from "../pipeline";
+import {NarrowPhase} from "./narrow_phase";
+
+/**
+ * The broad-phase used for coarse collision-detection.
+ *
+ * To avoid leaking WASM resources, this MUST be freed manually with `broadPhase.free()`
+ * once you are done using it.
+ */
+export class BroadPhase {
+    raw: RawBroadPhase;
+
+    /**
+     * Release the WASM memory occupied by this broad-phase.
+     */
+    public free() {
+        if (!!this.raw) {
+            this.raw.free();
+        }
+        this.raw = undefined;
+    }
+
+    constructor(raw?: RawBroadPhase) {
+        this.raw = raw || new RawBroadPhase();
+    }
+
+    /**
+     * Find the closest intersection between a ray and a set of collider.
+     *
+     * @param colliders - The set of colliders taking part in this pipeline.
+     * @param ray - The ray to cast.
+     * @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively
+     *   limits the length of the ray to `ray.dir.norm() * maxToi`.
+     * @param solid - If `false` then the ray will attempt to hit the boundary of a shape, even if its
+     *   origin already lies inside of a shape. In other terms, `true` implies that all shapes are plain,
+     *   whereas `false` implies that all shapes are hollow for this ray-cast.
+     * @param groups - Used to filter the colliders that can or cannot be hit by the ray.
+     * @param filter - The callback to filter out which collider will be hit.
+     */
+    public castRay(
+        narrowPhase: NarrowPhase,
+        bodies: RigidBodySet,
+        colliders: ColliderSet,
+        ray: Ray,
+        maxToi: number,
+        solid: boolean,
+        filterFlags?: QueryFilterFlags,
+        filterGroups?: InteractionGroups,
+        filterExcludeCollider?: ColliderHandle,
+        filterExcludeRigidBody?: RigidBodyHandle,
+        filterPredicate?: (collider: ColliderHandle) => boolean,
+    ): RayColliderHit | null {
+        let rawOrig = VectorOps.intoRaw(ray.origin);
+        let rawDir = VectorOps.intoRaw(ray.dir);
+        let result = RayColliderHit.fromRaw(
+            colliders,
+            this.raw.castRay(
+                narrowPhase.raw,
+                bodies.raw,
+                colliders.raw,
+                rawOrig,
+                rawDir,
+                maxToi,
+                solid,
+                filterFlags,
+                filterGroups,
+                filterExcludeCollider,
+                filterExcludeRigidBody,
+                filterPredicate,
+            ),
+        );
+
+        rawOrig.free();
+        rawDir.free();
+
+        return result;
+    }
+
+    /**
+     * Find the closest intersection between a ray and a set of collider.
+     *
+     * This also computes the normal at the hit point.
+     * @param colliders - The set of colliders taking part in this pipeline.
+     * @param ray - The ray to cast.
+     * @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively
+     *   limits the length of the ray to `ray.dir.norm() * maxToi`.
+     * @param solid - If `false` then the ray will attempt to hit the boundary of a shape, even if its
+     *   origin already lies inside of a shape. In other terms, `true` implies that all shapes are plain,
+     *   whereas `false` implies that all shapes are hollow for this ray-cast.
+     * @param groups - Used to filter the colliders that can or cannot be hit by the ray.
+     */
+    public castRayAndGetNormal(
+        narrowPhase: NarrowPhase,
+        bodies: RigidBodySet,
+        colliders: ColliderSet,
+        ray: Ray,
+        maxToi: number,
+        solid: boolean,
+        filterFlags?: QueryFilterFlags,
+        filterGroups?: InteractionGroups,
+        filterExcludeCollider?: ColliderHandle,
+        filterExcludeRigidBody?: RigidBodyHandle,
+        filterPredicate?: (collider: ColliderHandle) => boolean,
+    ): RayColliderIntersection | null {
+        let rawOrig = VectorOps.intoRaw(ray.origin);
+        let rawDir = VectorOps.intoRaw(ray.dir);
+        let result = RayColliderIntersection.fromRaw(
+            colliders,
+            this.raw.castRayAndGetNormal(
+                narrowPhase.raw,
+                bodies.raw,
+                colliders.raw,
+                rawOrig,
+                rawDir,
+                maxToi,
+                solid,
+                filterFlags,
+                filterGroups,
+                filterExcludeCollider,
+                filterExcludeRigidBody,
+                filterPredicate,
+            ),
+        );
+
+        rawOrig.free();
+        rawDir.free();
+
+        return result;
+    }
+
+    /**
+     * Cast a ray and collects all the intersections between a ray and the scene.
+     *
+     * @param colliders - The set of colliders taking part in this pipeline.
+     * @param ray - The ray to cast.
+     * @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively
+     *   limits the length of the ray to `ray.dir.norm() * maxToi`.
+     * @param solid - If `false` then the ray will attempt to hit the boundary of a shape, even if its
+     *   origin already lies inside of a shape. In other terms, `true` implies that all shapes are plain,
+     *   whereas `false` implies that all shapes are hollow for this ray-cast.
+     * @param groups - Used to filter the colliders that can or cannot be hit by the ray.
+     * @param callback - The callback called once per hit (in no particular order) between a ray and a collider.
+     *   If this callback returns `false`, then the cast will stop and no further hits will be detected/reported.
+     */
+    public intersectionsWithRay(
+        narrowPhase: NarrowPhase,
+        bodies: RigidBodySet,
+        colliders: ColliderSet,
+        ray: Ray,
+        maxToi: number,
+        solid: boolean,
+        callback: (intersect: RayColliderIntersection) => boolean,
+        filterFlags?: QueryFilterFlags,
+        filterGroups?: InteractionGroups,
+        filterExcludeCollider?: ColliderHandle,
+        filterExcludeRigidBody?: RigidBodyHandle,
+        filterPredicate?: (collider: ColliderHandle) => boolean,
+    ) {
+        let rawOrig = VectorOps.intoRaw(ray.origin);
+        let rawDir = VectorOps.intoRaw(ray.dir);
+        let rawCallback = (rawInter: RawRayColliderIntersection) => {
+            return callback(
+                RayColliderIntersection.fromRaw(colliders, rawInter),
+            );
+        };
+
+        this.raw.intersectionsWithRay(
+            narrowPhase.raw,
+            bodies.raw,
+            colliders.raw,
+            rawOrig,
+            rawDir,
+            maxToi,
+            solid,
+            rawCallback,
+            filterFlags,
+            filterGroups,
+            filterExcludeCollider,
+            filterExcludeRigidBody,
+            filterPredicate,
+        );
+
+        rawOrig.free();
+        rawDir.free();
+    }
+
+    /**
+     * Gets the handle of up to one collider intersecting the given shape.
+     *
+     * @param colliders - The set of colliders taking part in this pipeline.
+     * @param shapePos - The position of the shape used for the intersection test.
+     * @param shapeRot - The orientation of the shape used for the intersection test.
+     * @param shape - The shape used for the intersection test.
+     * @param groups - The bit groups and filter associated to the ray, in order to only
+     *   hit the colliders with collision groups compatible with the ray's group.
+     */
+    public intersectionWithShape(
+        narrowPhase: NarrowPhase,
+        bodies: RigidBodySet,
+        colliders: ColliderSet,
+        shapePos: Vector,
+        shapeRot: Rotation,
+        shape: Shape,
+        filterFlags?: QueryFilterFlags,
+        filterGroups?: InteractionGroups,
+        filterExcludeCollider?: ColliderHandle,
+        filterExcludeRigidBody?: RigidBodyHandle,
+        filterPredicate?: (collider: ColliderHandle) => boolean,
+    ): ColliderHandle | null {
+        let rawPos = VectorOps.intoRaw(shapePos);
+        let rawRot = RotationOps.intoRaw(shapeRot);
+        let rawShape = shape.intoRaw();
+        let result = this.raw.intersectionWithShape(
+            narrowPhase.raw,
+            bodies.raw,
+            colliders.raw,
+            rawPos,
+            rawRot,
+            rawShape,
+            filterFlags,
+            filterGroups,
+            filterExcludeCollider,
+            filterExcludeRigidBody,
+            filterPredicate,
+        );
+
+        rawPos.free();
+        rawRot.free();
+        rawShape.free();
+
+        return result;
+    }
+
+    /**
+     * Find the projection of a point on the closest collider.
+     *
+     * @param colliders - The set of colliders taking part in this pipeline.
+     * @param point - The point to project.
+     * @param solid - If this is set to `true` then the collider shapes are considered to
+     *   be plain (if the point is located inside of a plain shape, its projection is the point
+     *   itself). If it is set to `false` the collider shapes are considered to be hollow
+     *   (if the point is located inside of an hollow shape, it is projected on the shape's
+     *   boundary).
+     * @param groups - The bit groups and filter associated to the point to project, in order to only
+     *   project on colliders with collision groups compatible with the ray's group.
+     */
+    public projectPoint(
+        narrowPhase: NarrowPhase,
+        bodies: RigidBodySet,
+        colliders: ColliderSet,
+        point: Vector,
+        solid: boolean,
+        filterFlags?: QueryFilterFlags,
+        filterGroups?: InteractionGroups,
+        filterExcludeCollider?: ColliderHandle,
+        filterExcludeRigidBody?: RigidBodyHandle,
+        filterPredicate?: (collider: ColliderHandle) => boolean,
+    ): PointColliderProjection | null {
+        let rawPoint = VectorOps.intoRaw(point);
+        let result = PointColliderProjection.fromRaw(
+            colliders,
+            this.raw.projectPoint(
+                narrowPhase.raw,
+                bodies.raw,
+                colliders.raw,
+                rawPoint,
+                solid,
+                filterFlags,
+                filterGroups,
+                filterExcludeCollider,
+                filterExcludeRigidBody,
+                filterPredicate,
+            ),
+        );
+
+        rawPoint.free();
+
+        return result;
+    }
+
+    /**
+     * Find the projection of a point on the closest collider.
+     *
+     * @param colliders - The set of colliders taking part in this pipeline.
+     * @param point - The point to project.
+     * @param groups - The bit groups and filter associated to the point to project, in order to only
+     *   project on colliders with collision groups compatible with the ray's group.
+     */
+    public projectPointAndGetFeature(
+        narrowPhase: NarrowPhase,
+        bodies: RigidBodySet,
+        colliders: ColliderSet,
+        point: Vector,
+        filterFlags?: QueryFilterFlags,
+        filterGroups?: InteractionGroups,
+        filterExcludeCollider?: ColliderHandle,
+        filterExcludeRigidBody?: RigidBodyHandle,
+        filterPredicate?: (collider: ColliderHandle) => boolean,
+    ): PointColliderProjection | null {
+        let rawPoint = VectorOps.intoRaw(point);
+        let result = PointColliderProjection.fromRaw(
+            colliders,
+            this.raw.projectPointAndGetFeature(
+                narrowPhase.raw,
+                bodies.raw,
+                colliders.raw,
+                rawPoint,
+                filterFlags,
+                filterGroups,
+                filterExcludeCollider,
+                filterExcludeRigidBody,
+                filterPredicate,
+            ),
+        );
+
+        rawPoint.free();
+
+        return result;
+    }
+
+    /**
+     * Find all the colliders containing the given point.
+     *
+     * @param colliders - The set of colliders taking part in this pipeline.
+     * @param point - The point used for the containment test.
+     * @param groups - The bit groups and filter associated to the point to test, in order to only
+     *   test on colliders with collision groups compatible with the ray's group.
+     * @param callback - A function called with the handles of each collider with a shape
+     *   containing the `point`.
+     */
+    public intersectionsWithPoint(
+        narrowPhase: NarrowPhase,
+        bodies: RigidBodySet,
+        colliders: ColliderSet,
+        point: Vector,
+        callback: (handle: ColliderHandle) => boolean,
+        filterFlags?: QueryFilterFlags,
+        filterGroups?: InteractionGroups,
+        filterExcludeCollider?: ColliderHandle,
+        filterExcludeRigidBody?: RigidBodyHandle,
+        filterPredicate?: (collider: ColliderHandle) => boolean,
+    ) {
+        let rawPoint = VectorOps.intoRaw(point);
+
+        this.raw.intersectionsWithPoint(
+            narrowPhase.raw,
+            bodies.raw,
+            colliders.raw,
+            rawPoint,
+            callback,
+            filterFlags,
+            filterGroups,
+            filterExcludeCollider,
+            filterExcludeRigidBody,
+            filterPredicate,
+        );
+
+        rawPoint.free();
+    }
+
+    /**
+     * Casts a shape at a constant linear velocity and retrieve the first collider it hits.
+     * This is similar to ray-casting except that we are casting a whole shape instead of
+     * just a point (the ray origin).
+     *
+     * @param colliders - The set of colliders taking part in this pipeline.
+     * @param shapePos - The initial position of the shape to cast.
+     * @param shapeRot - The initial rotation of the shape to cast.
+     * @param shapeVel - The constant velocity of the shape to cast (i.e. the cast direction).
+     * @param shape - The shape to cast.
+     * @param targetDistance − If the shape moves closer to this distance from a collider, a hit
+     *                       will be returned.
+     * @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively
+     *   limits the distance traveled by the shape to `shapeVel.norm() * maxToi`.
+     * @param stopAtPenetration - If set to `false`, the linear shape-cast won’t immediately stop if
+     *   the shape is penetrating another shape at its starting point **and** its trajectory is such
+     *   that it’s on a path to exit that penetration state.
+     * @param groups - The bit groups and filter associated to the shape to cast, in order to only
+     *   test on colliders with collision groups compatible with this group.
+     */
+    public castShape(
+        narrowPhase: NarrowPhase,
+        bodies: RigidBodySet,
+        colliders: ColliderSet,
+        shapePos: Vector,
+        shapeRot: Rotation,
+        shapeVel: Vector,
+        shape: Shape,
+        targetDistance: number,
+        maxToi: number,
+        stopAtPenetration: boolean,
+        filterFlags?: QueryFilterFlags,
+        filterGroups?: InteractionGroups,
+        filterExcludeCollider?: ColliderHandle,
+        filterExcludeRigidBody?: RigidBodyHandle,
+        filterPredicate?: (collider: ColliderHandle) => boolean,
+    ): ColliderShapeCastHit | null {
+        let rawPos = VectorOps.intoRaw(shapePos);
+        let rawRot = RotationOps.intoRaw(shapeRot);
+        let rawVel = VectorOps.intoRaw(shapeVel);
+        let rawShape = shape.intoRaw();
+
+        let result = ColliderShapeCastHit.fromRaw(
+            colliders,
+            this.raw.castShape(
+                narrowPhase.raw,
+                bodies.raw,
+                colliders.raw,
+                rawPos,
+                rawRot,
+                rawVel,
+                rawShape,
+                targetDistance,
+                maxToi,
+                stopAtPenetration,
+                filterFlags,
+                filterGroups,
+                filterExcludeCollider,
+                filterExcludeRigidBody,
+                filterPredicate,
+            ),
+        );
+
+        rawPos.free();
+        rawRot.free();
+        rawVel.free();
+        rawShape.free();
+
+        return result;
+    }
+
+    /**
+     * Retrieve all the colliders intersecting the given shape.
+     *
+     * @param colliders - The set of colliders taking part in this pipeline.
+     * @param shapePos - The position of the shape to test.
+     * @param shapeRot - The orientation of the shape to test.
+     * @param shape - The shape to test.
+     * @param groups - The bit groups and filter associated to the shape to test, in order to only
+     *   test on colliders with collision groups compatible with this group.
+     * @param callback - A function called with the handles of each collider intersecting the `shape`.
+     */
+    public intersectionsWithShape(
+        narrowPhase: NarrowPhase,
+        bodies: RigidBodySet,
+        colliders: ColliderSet,
+        shapePos: Vector,
+        shapeRot: Rotation,
+        shape: Shape,
+        callback: (handle: ColliderHandle) => boolean,
+        filterFlags?: QueryFilterFlags,
+        filterGroups?: InteractionGroups,
+        filterExcludeCollider?: ColliderHandle,
+        filterExcludeRigidBody?: RigidBodyHandle,
+        filterPredicate?: (collider: ColliderHandle) => boolean,
+    ) {
+        let rawPos = VectorOps.intoRaw(shapePos);
+        let rawRot = RotationOps.intoRaw(shapeRot);
+        let rawShape = shape.intoRaw();
+
+        this.raw.intersectionsWithShape(
+            narrowPhase.raw,
+            bodies.raw,
+            colliders.raw,
+            rawPos,
+            rawRot,
+            rawShape,
+            callback,
+            filterFlags,
+            filterGroups,
+            filterExcludeCollider,
+            filterExcludeRigidBody,
+            filterPredicate,
+        );
+
+        rawPos.free();
+        rawRot.free();
+        rawShape.free();
+    }
+
+    /**
+     * Finds the handles of all the colliders with an AABB intersecting the given AABB.
+     *
+     * @param aabbCenter - The center of the AABB to test.
+     * @param aabbHalfExtents - The half-extents of the AABB to test.
+     * @param callback - The callback that will be called with the handles of all the colliders
+     *                   currently intersecting the given AABB.
+     */
+    public collidersWithAabbIntersectingAabb(
+        narrowPhase: NarrowPhase,
+        bodies: RigidBodySet,
+        colliders: ColliderSet,
+        aabbCenter: Vector,
+        aabbHalfExtents: Vector,
+        callback: (handle: ColliderHandle) => boolean,
+    ) {
+        let rawCenter = VectorOps.intoRaw(aabbCenter);
+        let rawHalfExtents = VectorOps.intoRaw(aabbHalfExtents);
+        this.raw.collidersWithAabbIntersectingAabb(
+            narrowPhase.raw,
+            bodies.raw,
+            colliders.raw,
+            rawCenter,
+            rawHalfExtents,
+            callback,
+        );
+        rawCenter.free();
+        rawHalfExtents.free();
+    }
+}
diff --git a/thirdparty/rapier.js/src.ts/geometry/collider.ts b/thirdparty/rapier.js/src.ts/geometry/collider.ts
new file mode 100644
index 00000000..25817362
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/geometry/collider.ts
@@ -0,0 +1,1983 @@
+import {RawColliderSet} from "../raw";
+import {Rotation, RotationOps, Vector, VectorOps} from "../math";
+import {
+    CoefficientCombineRule,
+    RigidBody,
+    RigidBodyHandle,
+    RigidBodySet,
+} from "../dynamics";
+import {ActiveHooks, ActiveEvents} from "../pipeline";
+import {InteractionGroups} from "./interaction_groups";
+import {
+    Shape,
+    Cuboid,
+    Ball,
+    ShapeType,
+    Capsule,
+    Voxels,
+    TriMesh,
+    Polyline,
+    Heightfield,
+    Segment,
+    Triangle,
+    RoundTriangle,
+    RoundCuboid,
+    HalfSpace,
+    TriMeshFlags,
+    // #if DIM2
+    ConvexPolygon,
+    RoundConvexPolygon,
+    // #endif
+    // #if DIM3
+    Cylinder,
+    RoundCylinder,
+    Cone,
+    RoundCone,
+    ConvexPolyhedron,
+    RoundConvexPolyhedron,
+    HeightFieldFlags,
+    // #endif
+} from "./shape";
+import {Ray, RayIntersection} from "./ray";
+import {PointProjection} from "./point";
+import {ColliderShapeCastHit, ShapeCastHit} from "./toi";
+import {ShapeContact} from "./contact";
+import {ColliderSet} from "./collider_set";
+
+/**
+ * Flags affecting whether collision-detection happens between two colliders
+ * depending on the type of rigid-bodies they are attached to.
+ */
+export enum ActiveCollisionTypes {
+    /**
+     * Enable collision-detection between a collider attached to a dynamic body
+     * and another collider attached to a dynamic body.
+     */
+    DYNAMIC_DYNAMIC = 0b0000_0000_0000_0001,
+    /**
+     * Enable collision-detection between a collider attached to a dynamic body
+     * and another collider attached to a kinematic body.
+     */
+    DYNAMIC_KINEMATIC = 0b0000_0000_0000_1100,
+    /**
+     * Enable collision-detection between a collider attached to a dynamic body
+     * and another collider attached to a fixed body (or not attached to any body).
+     */
+    DYNAMIC_FIXED = 0b0000_0000_0000_0010,
+    /**
+     * Enable collision-detection between a collider attached to a kinematic body
+     * and another collider attached to a kinematic body.
+     */
+    KINEMATIC_KINEMATIC = 0b1100_1100_0000_0000,
+
+    /**
+     * Enable collision-detection between a collider attached to a kinematic body
+     * and another collider attached to a fixed body (or not attached to any body).
+     */
+    KINEMATIC_FIXED = 0b0010_0010_0000_0000,
+
+    /**
+     * Enable collision-detection between a collider attached to a fixed body (or
+     * not attached to any body) and another collider attached to a fixed body (or
+     * not attached to any body).
+     */
+    FIXED_FIXED = 0b0000_0000_0010_0000,
+    /**
+     * The default active collision types, enabling collisions between a dynamic body
+     * and another body of any type, but not enabling collisions between two non-dynamic bodies.
+     */
+    DEFAULT = DYNAMIC_KINEMATIC | DYNAMIC_DYNAMIC | DYNAMIC_FIXED,
+    /**
+     * Enable collisions between any kind of rigid-bodies (including between two non-dynamic bodies).
+     */
+    ALL = DYNAMIC_KINEMATIC |
+        DYNAMIC_DYNAMIC |
+        DYNAMIC_FIXED |
+        KINEMATIC_KINEMATIC |
+        KINEMATIC_FIXED |
+        KINEMATIC_KINEMATIC,
+}
+
+/**
+ * The integer identifier of a collider added to a `ColliderSet`.
+ */
+export type ColliderHandle = number;
+
+/**
+ * A geometric entity that can be attached to a body so it can be affected
+ * by contacts and proximity queries.
+ */
+export class Collider {
+    private colliderSet: ColliderSet; // The Collider won't need to free this.
+    readonly handle: ColliderHandle;
+    private _shape: Shape; // TODO: deprecate/remove this since it isn’t a reliable way of getting the latest shape properties.
+    private _parent: RigidBody | null;
+
+    constructor(
+        colliderSet: ColliderSet,
+        handle: ColliderHandle,
+        parent: RigidBody | null,
+        shape?: Shape,
+    ) {
+        this.colliderSet = colliderSet;
+        this.handle = handle;
+        this._parent = parent;
+        this._shape = shape;
+    }
+
+    /** @internal */
+    public finalizeDeserialization(bodies: RigidBodySet) {
+        if (this.handle != null) {
+            this._parent = bodies.get(
+                this.colliderSet.raw.coParent(this.handle),
+            );
+        }
+    }
+
+    private ensureShapeIsCached() {
+        if (!this._shape)
+            this._shape = Shape.fromRaw(this.colliderSet.raw, this.handle);
+    }
+
+    /**
+     * The shape of this collider.
+     */
+    public get shape(): Shape {
+        this.ensureShapeIsCached();
+        return this._shape;
+    }
+
+    /**
+     * Set the internal cached JS shape to null.
+     *
+     * This can be useful if you want to free some memory (assuming you are not
+     * holding any other references to the shape object), or in order to force
+     * the recalculation of the JS shape (the next time the `shape` getter is
+     * accessed) from the WASM source of truth.
+     */
+    public clearShapeCache() {
+        this._shape = null;
+    }
+
+    /**
+     * Checks if this collider is still valid (i.e. that it has
+     * not been deleted from the collider set yet).
+     */
+    public isValid(): boolean {
+        return this.colliderSet.raw.contains(this.handle);
+    }
+
+    /**
+     * The world-space translation of this collider.
+     */
+    public translation(): Vector {
+        return VectorOps.fromRaw(
+            this.colliderSet.raw.coTranslation(this.handle),
+        );
+    }
+
+    /**
+     * The translation of this collider relative to its parent rigid-body.
+     *
+     * Returns `null` if the collider doesn’t have a parent rigid-body.
+     */
+    public translationWrtParent(): Vector | null {
+        return VectorOps.fromRaw(
+            this.colliderSet.raw.coTranslationWrtParent(this.handle),
+        );
+    }
+
+    /**
+     * The world-space orientation of this collider.
+     */
+    public rotation(): Rotation {
+        return RotationOps.fromRaw(
+            this.colliderSet.raw.coRotation(this.handle),
+        );
+    }
+
+    /**
+     * The orientation of this collider relative to its parent rigid-body.
+     *
+     * Returns `null` if the collider doesn’t have a parent rigid-body.
+     */
+    public rotationWrtParent(): Rotation | null {
+        return RotationOps.fromRaw(
+            this.colliderSet.raw.coRotationWrtParent(this.handle),
+        );
+    }
+
+    /**
+     * Is this collider a sensor?
+     */
+    public isSensor(): boolean {
+        return this.colliderSet.raw.coIsSensor(this.handle);
+    }
+
+    /**
+     * Sets whether this collider is a sensor.
+     * @param isSensor - If `true`, the collider will be a sensor.
+     */
+    public setSensor(isSensor: boolean) {
+        this.colliderSet.raw.coSetSensor(this.handle, isSensor);
+    }
+
+    /**
+     * Sets the new shape of the collider.
+     * @param shape - The collider’s new shape.
+     */
+    public setShape(shape: Shape) {
+        let rawShape = shape.intoRaw();
+        this.colliderSet.raw.coSetShape(this.handle, rawShape);
+        rawShape.free();
+        this._shape = shape;
+    }
+
+    /**
+     * Sets whether this collider is enabled or not.
+     *
+     * @param enabled - Set to `false` to disable this collider (its parent rigid-body won’t be disabled automatically by this).
+     */
+    public setEnabled(enabled: boolean) {
+        this.colliderSet.raw.coSetEnabled(this.handle, enabled);
+    }
+
+    /**
+     * Is this collider enabled?
+     */
+    public isEnabled(): boolean {
+        return this.colliderSet.raw.coIsEnabled(this.handle);
+    }
+
+    /**
+     * Sets the restitution coefficient of the collider to be created.
+     *
+     * @param restitution - The restitution coefficient in `[0, 1]`. A value of 0 (the default) means no bouncing behavior
+     *                   while 1 means perfect bouncing (though energy may still be lost due to numerical errors of the
+     *                   constraints solver).
+     */
+    public setRestitution(restitution: number) {
+        this.colliderSet.raw.coSetRestitution(this.handle, restitution);
+    }
+
+    /**
+     * Sets the friction coefficient of the collider to be created.
+     *
+     * @param friction - The friction coefficient. Must be greater or equal to 0. This is generally smaller than 1. The
+     *                   higher the coefficient, the stronger friction forces will be for contacts with the collider
+     *                   being built.
+     */
+    public setFriction(friction: number) {
+        this.colliderSet.raw.coSetFriction(this.handle, friction);
+    }
+
+    /**
+     * Gets the rule used to combine the friction coefficients of two colliders
+     * colliders involved in a contact.
+     */
+    public frictionCombineRule(): CoefficientCombineRule {
+        return this.colliderSet.raw.coFrictionCombineRule(this.handle);
+    }
+
+    /**
+     * Sets the rule used to combine the friction coefficients of two colliders
+     * colliders involved in a contact.
+     *
+     * @param rule − The combine rule to apply.
+     */
+    public setFrictionCombineRule(rule: CoefficientCombineRule) {
+        this.colliderSet.raw.coSetFrictionCombineRule(this.handle, rule);
+    }
+
+    /**
+     * Gets the rule used to combine the restitution coefficients of two colliders
+     * colliders involved in a contact.
+     */
+    public restitutionCombineRule(): CoefficientCombineRule {
+        return this.colliderSet.raw.coRestitutionCombineRule(this.handle);
+    }
+
+    /**
+     * Sets the rule used to combine the restitution coefficients of two colliders
+     * colliders involved in a contact.
+     *
+     * @param rule − The combine rule to apply.
+     */
+    public setRestitutionCombineRule(rule: CoefficientCombineRule) {
+        this.colliderSet.raw.coSetRestitutionCombineRule(this.handle, rule);
+    }
+
+    /**
+     * Sets the collision groups used by this collider.
+     *
+     * Two colliders will interact iff. their collision groups are compatible.
+     * See the documentation of `InteractionGroups` for details on teh used bit pattern.
+     *
+     * @param groups - The collision groups used for the collider being built.
+     */
+    public setCollisionGroups(groups: InteractionGroups) {
+        this.colliderSet.raw.coSetCollisionGroups(this.handle, groups);
+    }
+
+    /**
+     * Sets the solver groups used by this collider.
+     *
+     * Forces between two colliders in contact will be computed iff their solver
+     * groups are compatible.
+     * See the documentation of `InteractionGroups` for details on the used bit pattern.
+     *
+     * @param groups - The solver groups used for the collider being built.
+     */
+    public setSolverGroups(groups: InteractionGroups) {
+        this.colliderSet.raw.coSetSolverGroups(this.handle, groups);
+    }
+
+    /**
+     * Sets the contact skin for this collider.
+     *
+     * See the documentation of `ColliderDesc.setContactSkin` for additional details.
+     */
+    public contactSkin(): number {
+        return this.colliderSet.raw.coContactSkin(this.handle);
+    }
+
+    /**
+     * Sets the contact skin for this collider.
+     *
+     * See the documentation of `ColliderDesc.setContactSkin` for additional details.
+     *
+     * @param thickness - The contact skin thickness.
+     */
+    public setContactSkin(thickness: number) {
+        return this.colliderSet.raw.coSetContactSkin(this.handle, thickness);
+    }
+
+    /**
+     * Get the physics hooks active for this collider.
+     */
+    public activeHooks(): ActiveHooks {
+        return this.colliderSet.raw.coActiveHooks(this.handle);
+    }
+
+    /**
+     * Set the physics hooks active for this collider.
+     *
+     * Use this to enable custom filtering rules for contact/intersecstion pairs involving this collider.
+     *
+     * @param activeHooks - The hooks active for contact/intersection pairs involving this collider.
+     */
+    public setActiveHooks(activeHooks: ActiveHooks) {
+        this.colliderSet.raw.coSetActiveHooks(this.handle, activeHooks);
+    }
+
+    /**
+     * The events active for this collider.
+     */
+    public activeEvents(): ActiveEvents {
+        return this.colliderSet.raw.coActiveEvents(this.handle);
+    }
+
+    /**
+     * Set the events active for this collider.
+     *
+     * Use this to enable contact and/or intersection event reporting for this collider.
+     *
+     * @param activeEvents - The events active for contact/intersection pairs involving this collider.
+     */
+    public setActiveEvents(activeEvents: ActiveEvents) {
+        this.colliderSet.raw.coSetActiveEvents(this.handle, activeEvents);
+    }
+
+    /**
+     * Gets the collision types active for this collider.
+     */
+    public activeCollisionTypes(): ActiveCollisionTypes {
+        return this.colliderSet.raw.coActiveCollisionTypes(this.handle);
+    }
+
+    /**
+     * Sets the total force magnitude beyond which a contact force event can be emitted.
+     *
+     * @param threshold - The new force threshold.
+     */
+    public setContactForceEventThreshold(threshold: number) {
+        return this.colliderSet.raw.coSetContactForceEventThreshold(
+            this.handle,
+            threshold,
+        );
+    }
+
+    /**
+     * The total force magnitude beyond which a contact force event can be emitted.
+     */
+    public contactForceEventThreshold(): number {
+        return this.colliderSet.raw.coContactForceEventThreshold(this.handle);
+    }
+
+    /**
+     * Set the collision types active for this collider.
+     *
+     * @param activeCollisionTypes - The hooks active for contact/intersection pairs involving this collider.
+     */
+    public setActiveCollisionTypes(activeCollisionTypes: ActiveCollisionTypes) {
+        this.colliderSet.raw.coSetActiveCollisionTypes(
+            this.handle,
+            activeCollisionTypes,
+        );
+    }
+
+    /**
+     * Sets the uniform density of this collider.
+     *
+     * This will override any previous mass-properties set by `this.setDensity`,
+     * `this.setMass`, `this.setMassProperties`, `ColliderDesc.density`,
+     * `ColliderDesc.mass`, or `ColliderDesc.massProperties` for this collider.
+     *
+     * The mass and angular inertia of this collider will be computed automatically based on its
+     * shape.
+     */
+    public setDensity(density: number) {
+        this.colliderSet.raw.coSetDensity(this.handle, density);
+    }
+
+    /**
+     * Sets the mass of this collider.
+     *
+     * This will override any previous mass-properties set by `this.setDensity`,
+     * `this.setMass`, `this.setMassProperties`, `ColliderDesc.density`,
+     * `ColliderDesc.mass`, or `ColliderDesc.massProperties` for this collider.
+     *
+     * The angular inertia of this collider will be computed automatically based on its shape
+     * and this mass value.
+     */
+    public setMass(mass: number) {
+        this.colliderSet.raw.coSetMass(this.handle, mass);
+    }
+
+    // #if DIM3
+    /**
+     * Sets the mass of this collider.
+     *
+     * This will override any previous mass-properties set by `this.setDensity`,
+     * `this.setMass`, `this.setMassProperties`, `ColliderDesc.density`,
+     * `ColliderDesc.mass`, or `ColliderDesc.massProperties` for this collider.
+     */
+    public setMassProperties(
+        mass: number,
+        centerOfMass: Vector,
+        principalAngularInertia: Vector,
+        angularInertiaLocalFrame: Rotation,
+    ) {
+        let rawCom = VectorOps.intoRaw(centerOfMass);
+        let rawPrincipalInertia = VectorOps.intoRaw(principalAngularInertia);
+        let rawInertiaFrame = RotationOps.intoRaw(angularInertiaLocalFrame);
+
+        this.colliderSet.raw.coSetMassProperties(
+            this.handle,
+            mass,
+            rawCom,
+            rawPrincipalInertia,
+            rawInertiaFrame,
+        );
+
+        rawCom.free();
+        rawPrincipalInertia.free();
+        rawInertiaFrame.free();
+    }
+
+    // #endif
+
+    // #if DIM2
+    /**
+     * Sets the mass of this collider.
+     *
+     * This will override any previous mass-properties set by `this.setDensity`,
+     * `this.setMass`, `this.setMassProperties`, `ColliderDesc.density`,
+     * `ColliderDesc.mass`, or `ColliderDesc.massProperties` for this collider.
+     */
+    public setMassProperties(
+        mass: number,
+        centerOfMass: Vector,
+        principalAngularInertia: number,
+    ) {
+        let rawCom = VectorOps.intoRaw(centerOfMass);
+        this.colliderSet.raw.coSetMassProperties(
+            this.handle,
+            mass,
+            rawCom,
+            principalAngularInertia,
+        );
+        rawCom.free();
+    }
+
+    // #endif
+
+    /**
+     * Sets the translation of this collider.
+     *
+     * @param tra - The world-space position of the collider.
+     */
+    public setTranslation(tra: Vector) {
+        // #if DIM2
+        this.colliderSet.raw.coSetTranslation(this.handle, tra.x, tra.y);
+        // #endif
+        // #if DIM3
+        this.colliderSet.raw.coSetTranslation(this.handle, tra.x, tra.y, tra.z);
+        // #endif
+    }
+
+    /**
+     * Sets the translation of this collider relative to its parent rigid-body.
+     *
+     * Does nothing if this collider isn't attached to a rigid-body.
+     *
+     * @param tra - The new translation of the collider relative to its parent.
+     */
+    public setTranslationWrtParent(tra: Vector) {
+        // #if DIM2
+        this.colliderSet.raw.coSetTranslationWrtParent(
+            this.handle,
+            tra.x,
+            tra.y,
+        );
+        // #endif
+        // #if DIM3
+        this.colliderSet.raw.coSetTranslationWrtParent(
+            this.handle,
+            tra.x,
+            tra.y,
+            tra.z,
+        );
+        // #endif
+    }
+
+    // #if DIM3
+    /**
+     * Sets the rotation quaternion of this collider.
+     *
+     * This does nothing if a zero quaternion is provided.
+     *
+     * @param rotation - The rotation to set.
+     */
+    public setRotation(rot: Rotation) {
+        this.colliderSet.raw.coSetRotation(
+            this.handle,
+            rot.x,
+            rot.y,
+            rot.z,
+            rot.w,
+        );
+    }
+
+    /**
+     * Sets the rotation quaternion of this collider relative to its parent rigid-body.
+     *
+     * This does nothing if a zero quaternion is provided or if this collider isn't
+     * attached to a rigid-body.
+     *
+     * @param rotation - The rotation to set.
+     */
+    public setRotationWrtParent(rot: Rotation) {
+        this.colliderSet.raw.coSetRotationWrtParent(
+            this.handle,
+            rot.x,
+            rot.y,
+            rot.z,
+            rot.w,
+        );
+    }
+
+    // #endif
+    // #if DIM2
+    /**
+     * Sets the rotation angle of this collider.
+     *
+     * @param angle - The rotation angle, in radians.
+     */
+    public setRotation(angle: number) {
+        this.colliderSet.raw.coSetRotation(this.handle, angle);
+    }
+
+    /**
+     * Sets the rotation angle of this collider relative to its parent rigid-body.
+     *
+     * Does nothing if this collider isn't attached to a rigid-body.
+     *
+     * @param angle - The rotation angle, in radians.
+     */
+    public setRotationWrtParent(angle: number) {
+        this.colliderSet.raw.coSetRotationWrtParent(this.handle, angle);
+    }
+
+    // #endif
+
+    /**
+     * The type of the shape of this collider.
+     */
+    public shapeType(): ShapeType {
+        return this.colliderSet.raw.coShapeType(
+            this.handle,
+        ) as number as ShapeType;
+    }
+
+    /**
+     * The half-extents of this collider if it is a cuboid shape.
+     */
+    public halfExtents(): Vector {
+        return VectorOps.fromRaw(
+            this.colliderSet.raw.coHalfExtents(this.handle),
+        );
+    }
+
+    /**
+     * Sets the half-extents of this collider if it is a cuboid shape.
+     *
+     * @param newHalfExtents - desired half extents.
+     */
+    public setHalfExtents(newHalfExtents: Vector) {
+        const rawPoint = VectorOps.intoRaw(newHalfExtents);
+        this.colliderSet.raw.coSetHalfExtents(this.handle, rawPoint);
+    }
+
+    /**
+     * The radius of this collider if it is a ball, cylinder, capsule, or cone shape.
+     */
+    public radius(): number {
+        return this.colliderSet.raw.coRadius(this.handle);
+    }
+
+    /**
+     * Sets the radius of this collider if it is a ball, cylinder, capsule, or cone shape.
+     *
+     * @param newRadius - desired radius.
+     */
+    public setRadius(newRadius: number): void {
+        this.colliderSet.raw.coSetRadius(this.handle, newRadius);
+    }
+
+    /**
+     * The radius of the round edges of this collider if it is a round cylinder.
+     */
+    public roundRadius(): number {
+        return this.colliderSet.raw.coRoundRadius(this.handle);
+    }
+
+    /**
+     * Sets the radius of the round edges of this collider if it has round edges.
+     *
+     * @param newBorderRadius - desired round edge radius.
+     */
+    public setRoundRadius(newBorderRadius: number) {
+        this.colliderSet.raw.coSetRoundRadius(this.handle, newBorderRadius);
+    }
+
+    /**
+     * The half height of this collider if it is a cylinder, capsule, or cone shape.
+     */
+    public halfHeight(): number {
+        return this.colliderSet.raw.coHalfHeight(this.handle);
+    }
+
+    /**
+     * Sets the half height of this collider if it is a cylinder, capsule, or cone shape.
+     *
+     * @param newHalfheight - desired half height.
+     */
+    public setHalfHeight(newHalfheight: number) {
+        this.colliderSet.raw.coSetHalfHeight(this.handle, newHalfheight);
+    }
+
+    /**
+     * If this collider has a Voxels shape, this will mark the voxel at the
+     * given grid coordinates as filled or empty (depending on the `filled`
+     * argument).
+     *
+     * Each input value is assumed to be an integer.
+     *
+     * The operation is O(1), unless the provided coordinates are out of the
+     * bounds of the currently allocated internal grid in which case the grid
+     * will be grown automatically.
+     */
+    public setVoxel(
+        ix: number,
+        iy: number,
+        // #if DIM3
+        iz: number,
+        // #endif
+        filled: boolean,
+    ) {
+        this.colliderSet.raw.coSetVoxel(
+            this.handle,
+            ix,
+            iy,
+            // #if DIM3
+            iz,
+            // #endif
+            filled,
+        );
+        // We modified the shape, invalidate it to keep our cache
+        // up-to-date the next time the user requests the shape data.
+        // PERF: this isn’t ideal for performances as this adds a
+        //       hidden, non-constant, cost.
+        this._shape = null;
+    }
+
+    /**
+     * If this and `voxels2` are voxel colliders, and a voxel from `this` was
+     * modified with `setVoxel`, this will ensure that a
+     * moving object transitioning across the boundaries of these colliders
+     * won’t suffer from the "internal edges" artifact.
+     *
+     * The indices `ix, iy, iz` indicate the integer coordinates of the voxel in
+     * the local coordinate frame of `this`.
+     *
+     * If the voxels in `voxels2` live in a different coordinate space from `this`,
+     * then the `shift_*` argument indicate the distance, in voxel units, between
+     * the origin of `this` to the origin of `voxels2`.
+     *
+     * This method is intended to be called between `this` and all the other
+     * voxels colliders with a domain intersecting `this` or sharing a domain
+     * boundary. This is an incremental maintenance of the effect of
+     * `combineVoxelStates`.
+     */
+    public propagateVoxelChange(
+        voxels2: Collider,
+        ix: number,
+        iy: number,
+        // #if DIM3
+        iz: number,
+        // #endif
+        shift_x: number,
+        shift_y: number,
+        // #if DIM3
+        shift_z: number,
+        // #endif
+    ) {
+        this.colliderSet.raw.coPropagateVoxelChange(
+            this.handle,
+            voxels2.handle,
+            ix,
+            iy,
+            // #if DIM3
+            iz,
+            // #endif
+            shift_x,
+            shift_y,
+            // #if DIM3
+            shift_z,
+            // #endif
+        );
+        // We modified the shape, invalidate it to keep our cache
+        // up-to-date the next time the user requests the shape data.
+        // PERF: this isn’t ideal for performances as this adds a
+        //       hidden, non-constant, cost.
+        this._shape = null;
+    }
+
+    /**
+     * If this and `voxels2` are voxel colliders, this will ensure that a
+     * moving object transitioning across the boundaries of these colliders
+     * won’t suffer from the "internal edges" artifact.
+     *
+     * If the voxels in `voxels2` live in a different coordinate space from `this`,
+     * then the `shift_*` argument indicate the distance, in voxel units, between
+     * the origin of `this` to the origin of `voxels2`.
+     *
+     * This method is intended to be called once between all pairs of voxels
+     * colliders with intersecting domains or shared boundaries.
+     *
+     * If either voxels collider is then modified with `setVoxel`, the
+     * `propagateVoxelChange` method must be called to maintain the coupling
+     * between the voxels shapes after the modification.
+     */
+    public combineVoxelStates(
+        voxels2: Collider,
+        shift_x: number,
+        shift_y: number,
+        // #if DIM3
+        shift_z: number,
+        // #endif
+    ) {
+        this.colliderSet.raw.coCombineVoxelStates(
+            this.handle,
+            voxels2.handle,
+            shift_x,
+            shift_y,
+            // #if DIM3
+            shift_z,
+            // #endif
+        );
+        // We modified the shape, invalidate it to keep our cache
+        // up-to-date the next time the user requests the shape data.
+        // PERF: this isn’t ideal for performances as this adds a
+        //       hidden, non-constant, cost.
+        this._shape = null;
+    }
+
+    /**
+     * If this collider has a triangle mesh, polyline, convex polygon, or convex polyhedron shape,
+     * this returns the vertex buffer of said shape.
+     */
+    public vertices(): Float32Array {
+        return this.colliderSet.raw.coVertices(this.handle);
+    }
+
+    /**
+     * If this collider has a triangle mesh, polyline, or convex polyhedron shape,
+     * this returns the index buffer of said shape.
+     */
+    public indices(): Uint32Array | undefined {
+        return this.colliderSet.raw.coIndices(this.handle);
+    }
+
+    /**
+     * If this collider has a heightfield shape, this returns the heights buffer of
+     * the heightfield.
+     * In 3D, the returned height matrix is provided in column-major order.
+     */
+    public heightfieldHeights(): Float32Array {
+        return this.colliderSet.raw.coHeightfieldHeights(this.handle);
+    }
+
+    /**
+     * If this collider has a heightfield shape, this returns the scale
+     * applied to it.
+     */
+    public heightfieldScale(): Vector {
+        let scale = this.colliderSet.raw.coHeightfieldScale(this.handle);
+        return VectorOps.fromRaw(scale);
+    }
+
+    // #if DIM3
+    /**
+     * If this collider has a heightfield shape, this returns the number of
+     * rows of its height matrix.
+     */
+    public heightfieldNRows(): number {
+        return this.colliderSet.raw.coHeightfieldNRows(this.handle);
+    }
+
+    /**
+     * If this collider has a heightfield shape, this returns the number of
+     * columns of its height matrix.
+     */
+    public heightfieldNCols(): number {
+        return this.colliderSet.raw.coHeightfieldNCols(this.handle);
+    }
+
+    // #endif
+
+    /**
+     * The rigid-body this collider is attached to.
+     */
+    public parent(): RigidBody | null {
+        return this._parent;
+    }
+
+    /**
+     * The friction coefficient of this collider.
+     */
+    public friction(): number {
+        return this.colliderSet.raw.coFriction(this.handle);
+    }
+
+    /**
+     * The restitution coefficient of this collider.
+     */
+    public restitution(): number {
+        return this.colliderSet.raw.coRestitution(this.handle);
+    }
+
+    /**
+     * The density of this collider.
+     */
+    public density(): number {
+        return this.colliderSet.raw.coDensity(this.handle);
+    }
+
+    /**
+     * The mass of this collider.
+     */
+    public mass(): number {
+        return this.colliderSet.raw.coMass(this.handle);
+    }
+
+    /**
+     * The volume of this collider.
+     */
+    public volume(): number {
+        return this.colliderSet.raw.coVolume(this.handle);
+    }
+
+    /**
+     * The collision groups of this collider.
+     */
+    public collisionGroups(): InteractionGroups {
+        return this.colliderSet.raw.coCollisionGroups(this.handle);
+    }
+
+    /**
+     * The solver groups of this collider.
+     */
+    public solverGroups(): InteractionGroups {
+        return this.colliderSet.raw.coSolverGroups(this.handle);
+    }
+
+    /**
+     * Tests if this collider contains a point.
+     *
+     * @param point - The point to test.
+     */
+    public containsPoint(point: Vector): boolean {
+        let rawPoint = VectorOps.intoRaw(point);
+        let result = this.colliderSet.raw.coContainsPoint(
+            this.handle,
+            rawPoint,
+        );
+
+        rawPoint.free();
+
+        return result;
+    }
+
+    /**
+     * Find the projection of a point on this collider.
+     *
+     * @param point - The point to project.
+     * @param solid - If this is set to `true` then the collider shapes are considered to
+     *   be plain (if the point is located inside of a plain shape, its projection is the point
+     *   itself). If it is set to `false` the collider shapes are considered to be hollow
+     *   (if the point is located inside of an hollow shape, it is projected on the shape's
+     *   boundary).
+     */
+    public projectPoint(point: Vector, solid: boolean): PointProjection | null {
+        let rawPoint = VectorOps.intoRaw(point);
+        let result = PointProjection.fromRaw(
+            this.colliderSet.raw.coProjectPoint(this.handle, rawPoint, solid),
+        );
+
+        rawPoint.free();
+
+        return result;
+    }
+
+    /**
+     * Tests if this collider intersects the given ray.
+     *
+     * @param ray - The ray to cast.
+     * @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively
+     *   limits the length of the ray to `ray.dir.norm() * maxToi`.
+     */
+    public intersectsRay(ray: Ray, maxToi: number): boolean {
+        let rawOrig = VectorOps.intoRaw(ray.origin);
+        let rawDir = VectorOps.intoRaw(ray.dir);
+        let result = this.colliderSet.raw.coIntersectsRay(
+            this.handle,
+            rawOrig,
+            rawDir,
+            maxToi,
+        );
+
+        rawOrig.free();
+        rawDir.free();
+
+        return result;
+    }
+
+    /*
+     * Computes the smallest time between this and the given shape under translational movement are separated by a distance smaller or equal to distance.
+     *
+     * @param collider1Vel - The constant velocity of the current shape to cast (i.e. the cast direction).
+     * @param shape2 - The shape to cast against.
+     * @param shape2Pos - The position of the second shape.
+     * @param shape2Rot - The rotation of the second shape.
+     * @param shape2Vel - The constant velocity of the second shape.
+     * @param targetDistance − If the shape moves closer to this distance from a collider, a hit
+     *                         will be returned.
+     * @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively
+     *   limits the distance traveled by the shape to `collider1Vel.norm() * maxToi`.
+     * @param stopAtPenetration - If set to `false`, the linear shape-cast won’t immediately stop if
+     *   the shape is penetrating another shape at its starting point **and** its trajectory is such
+     *   that it’s on a path to exit that penetration state.
+     */
+    public castShape(
+        collider1Vel: Vector,
+        shape2: Shape,
+        shape2Pos: Vector,
+        shape2Rot: Rotation,
+        shape2Vel: Vector,
+        targetDistance: number,
+        maxToi: number,
+        stopAtPenetration: boolean,
+    ): ShapeCastHit | null {
+        let rawCollider1Vel = VectorOps.intoRaw(collider1Vel);
+        let rawShape2Pos = VectorOps.intoRaw(shape2Pos);
+        let rawShape2Rot = RotationOps.intoRaw(shape2Rot);
+        let rawShape2Vel = VectorOps.intoRaw(shape2Vel);
+        let rawShape2 = shape2.intoRaw();
+
+        let result = ShapeCastHit.fromRaw(
+            this.colliderSet,
+            this.colliderSet.raw.coCastShape(
+                this.handle,
+                rawCollider1Vel,
+                rawShape2,
+                rawShape2Pos,
+                rawShape2Rot,
+                rawShape2Vel,
+                targetDistance,
+                maxToi,
+                stopAtPenetration,
+            ),
+        );
+
+        rawCollider1Vel.free();
+        rawShape2Pos.free();
+        rawShape2Rot.free();
+        rawShape2Vel.free();
+        rawShape2.free();
+
+        return result;
+    }
+
+    /*
+     * Computes the smallest time between this and the given collider under translational movement are separated by a distance smaller or equal to distance.
+     *
+     * @param collider1Vel - The constant velocity of the current collider to cast (i.e. the cast direction).
+     * @param collider2 - The collider to cast against.
+     * @param collider2Vel - The constant velocity of the second collider.
+     * @param targetDistance − If the shape moves closer to this distance from a collider, a hit
+     *                         will be returned.
+     * @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively
+     *   limits the distance traveled by the shape to `shapeVel.norm() * maxToi`.
+     * @param stopAtPenetration - If set to `false`, the linear shape-cast won’t immediately stop if
+     *   the shape is penetrating another shape at its starting point **and** its trajectory is such
+     *   that it’s on a path to exit that penetration state.
+     */
+    public castCollider(
+        collider1Vel: Vector,
+        collider2: Collider,
+        collider2Vel: Vector,
+        targetDistance: number,
+        maxToi: number,
+        stopAtPenetration: boolean,
+    ): ColliderShapeCastHit | null {
+        let rawCollider1Vel = VectorOps.intoRaw(collider1Vel);
+        let rawCollider2Vel = VectorOps.intoRaw(collider2Vel);
+
+        let result = ColliderShapeCastHit.fromRaw(
+            this.colliderSet,
+            this.colliderSet.raw.coCastCollider(
+                this.handle,
+                rawCollider1Vel,
+                collider2.handle,
+                rawCollider2Vel,
+                targetDistance,
+                maxToi,
+                stopAtPenetration,
+            ),
+        );
+
+        rawCollider1Vel.free();
+        rawCollider2Vel.free();
+
+        return result;
+    }
+
+    public intersectsShape(
+        shape2: Shape,
+        shapePos2: Vector,
+        shapeRot2: Rotation,
+    ): boolean {
+        let rawPos2 = VectorOps.intoRaw(shapePos2);
+        let rawRot2 = RotationOps.intoRaw(shapeRot2);
+        let rawShape2 = shape2.intoRaw();
+
+        let result = this.colliderSet.raw.coIntersectsShape(
+            this.handle,
+            rawShape2,
+            rawPos2,
+            rawRot2,
+        );
+
+        rawPos2.free();
+        rawRot2.free();
+        rawShape2.free();
+
+        return result;
+    }
+
+    /**
+     * Computes one pair of contact points between the shape owned by this collider and the given shape.
+     *
+     * @param shape2 - The second shape.
+     * @param shape2Pos - The initial position of the second shape.
+     * @param shape2Rot - The rotation of the second shape.
+     * @param prediction - The prediction value, if the shapes are separated by a distance greater than this value, test will fail.
+     * @returns `null` if the shapes are separated by a distance greater than prediction, otherwise contact details. The result is given in world-space.
+     */
+    contactShape(
+        shape2: Shape,
+        shape2Pos: Vector,
+        shape2Rot: Rotation,
+        prediction: number,
+    ): ShapeContact | null {
+        let rawPos2 = VectorOps.intoRaw(shape2Pos);
+        let rawRot2 = RotationOps.intoRaw(shape2Rot);
+        let rawShape2 = shape2.intoRaw();
+
+        let result = ShapeContact.fromRaw(
+            this.colliderSet.raw.coContactShape(
+                this.handle,
+                rawShape2,
+                rawPos2,
+                rawRot2,
+                prediction,
+            ),
+        );
+
+        rawPos2.free();
+        rawRot2.free();
+        rawShape2.free();
+
+        return result;
+    }
+
+    /**
+     * Computes one pair of contact points between the collider and the given collider.
+     *
+     * @param collider2 - The second collider.
+     * @param prediction - The prediction value, if the shapes are separated by a distance greater than this value, test will fail.
+     * @returns `null` if the shapes are separated by a distance greater than prediction, otherwise contact details. The result is given in world-space.
+     */
+    contactCollider(
+        collider2: Collider,
+        prediction: number,
+    ): ShapeContact | null {
+        let result = ShapeContact.fromRaw(
+            this.colliderSet.raw.coContactCollider(
+                this.handle,
+                collider2.handle,
+                prediction,
+            ),
+        );
+
+        return result;
+    }
+
+    /**
+     * Find the closest intersection between a ray and this collider.
+     *
+     * This also computes the normal at the hit point.
+     * @param ray - The ray to cast.
+     * @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively
+     *   limits the length of the ray to `ray.dir.norm() * maxToi`.
+     * @param solid - If `false` then the ray will attempt to hit the boundary of a shape, even if its
+     *   origin already lies inside of a shape. In other terms, `true` implies that all shapes are plain,
+     *   whereas `false` implies that all shapes are hollow for this ray-cast.
+     * @returns The time-of-impact between this collider and the ray, or `-1` if there is no intersection.
+     */
+    public castRay(ray: Ray, maxToi: number, solid: boolean): number {
+        let rawOrig = VectorOps.intoRaw(ray.origin);
+        let rawDir = VectorOps.intoRaw(ray.dir);
+        let result = this.colliderSet.raw.coCastRay(
+            this.handle,
+            rawOrig,
+            rawDir,
+            maxToi,
+            solid,
+        );
+
+        rawOrig.free();
+        rawDir.free();
+
+        return result;
+    }
+
+    /**
+     * Find the closest intersection between a ray and this collider.
+     *
+     * This also computes the normal at the hit point.
+     * @param ray - The ray to cast.
+     * @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively
+     *   limits the length of the ray to `ray.dir.norm() * maxToi`.
+     * @param solid - If `false` then the ray will attempt to hit the boundary of a shape, even if its
+     *   origin already lies inside of a shape. In other terms, `true` implies that all shapes are plain,
+     *   whereas `false` implies that all shapes are hollow for this ray-cast.
+     */
+    public castRayAndGetNormal(
+        ray: Ray,
+        maxToi: number,
+        solid: boolean,
+    ): RayIntersection | null {
+        let rawOrig = VectorOps.intoRaw(ray.origin);
+        let rawDir = VectorOps.intoRaw(ray.dir);
+        let result = RayIntersection.fromRaw(
+            this.colliderSet.raw.coCastRayAndGetNormal(
+                this.handle,
+                rawOrig,
+                rawDir,
+                maxToi,
+                solid,
+            ),
+        );
+
+        rawOrig.free();
+        rawDir.free();
+
+        return result;
+    }
+}
+
+export enum MassPropsMode {
+    Density,
+    Mass,
+    MassProps,
+}
+
+export class ColliderDesc {
+    enabled: boolean;
+    shape: Shape;
+    massPropsMode: MassPropsMode;
+    mass: number;
+    centerOfMass: Vector;
+    // #if DIM2
+    principalAngularInertia: number;
+    rotationsEnabled: boolean;
+    // #endif
+    // #if DIM3
+    principalAngularInertia: Vector;
+    angularInertiaLocalFrame: Rotation;
+    // #endif
+    density: number;
+    friction: number;
+    restitution: number;
+    rotation: Rotation;
+    translation: Vector;
+    isSensor: boolean;
+    collisionGroups: InteractionGroups;
+    solverGroups: InteractionGroups;
+    frictionCombineRule: CoefficientCombineRule;
+    restitutionCombineRule: CoefficientCombineRule;
+    activeEvents: ActiveEvents;
+    activeHooks: ActiveHooks;
+    activeCollisionTypes: ActiveCollisionTypes;
+    contactForceEventThreshold: number;
+    contactSkin: number;
+
+    /**
+     * Initializes a collider descriptor from the collision shape.
+     *
+     * @param shape - The shape of the collider being built.
+     */
+    constructor(shape: Shape) {
+        this.enabled = true;
+        this.shape = shape;
+        this.massPropsMode = MassPropsMode.Density;
+        this.density = 1.0;
+        this.friction = 0.5;
+        this.restitution = 0.0;
+        this.rotation = RotationOps.identity();
+        this.translation = VectorOps.zeros();
+        this.isSensor = false;
+        this.collisionGroups = 0xffff_ffff;
+        this.solverGroups = 0xffff_ffff;
+        this.frictionCombineRule = CoefficientCombineRule.Average;
+        this.restitutionCombineRule = CoefficientCombineRule.Average;
+        this.activeCollisionTypes = ActiveCollisionTypes.DEFAULT;
+        this.activeEvents = ActiveEvents.NONE;
+        this.activeHooks = ActiveHooks.NONE;
+        this.mass = 0.0;
+        this.centerOfMass = VectorOps.zeros();
+        this.contactForceEventThreshold = 0.0;
+        this.contactSkin = 0.0;
+
+        // #if DIM2
+        this.principalAngularInertia = 0.0;
+        this.rotationsEnabled = true;
+        // #endif
+        // #if DIM3
+        this.principalAngularInertia = VectorOps.zeros();
+        this.angularInertiaLocalFrame = RotationOps.identity();
+        // #endif
+    }
+
+    /**
+     * Create a new collider descriptor with a ball shape.
+     *
+     * @param radius - The radius of the ball.
+     */
+    public static ball(radius: number): ColliderDesc {
+        const shape = new Ball(radius);
+        return new ColliderDesc(shape);
+    }
+
+    /**
+     * Create a new collider descriptor with a capsule shape.
+     *
+     * @param halfHeight - The half-height of the capsule, along the `y` axis.
+     * @param radius - The radius of the capsule basis.
+     */
+    public static capsule(halfHeight: number, radius: number): ColliderDesc {
+        const shape = new Capsule(halfHeight, radius);
+        return new ColliderDesc(shape);
+    }
+
+    /**
+     * Creates a new segment shape.
+     *
+     * @param a - The first point of the segment.
+     * @param b - The second point of the segment.
+     */
+    public static segment(a: Vector, b: Vector): ColliderDesc {
+        const shape = new Segment(a, b);
+        return new ColliderDesc(shape);
+    }
+
+    /**
+     * Creates a new triangle shape.
+     *
+     * @param a - The first point of the triangle.
+     * @param b - The second point of the triangle.
+     * @param c - The third point of the triangle.
+     */
+    public static triangle(a: Vector, b: Vector, c: Vector): ColliderDesc {
+        const shape = new Triangle(a, b, c);
+        return new ColliderDesc(shape);
+    }
+
+    /**
+     * Creates a new triangle shape with round corners.
+     *
+     * @param a - The first point of the triangle.
+     * @param b - The second point of the triangle.
+     * @param c - The third point of the triangle.
+     * @param borderRadius - The radius of the borders of this triangle. In 3D,
+     *   this is also equal to half the thickness of the triangle.
+     */
+    public static roundTriangle(
+        a: Vector,
+        b: Vector,
+        c: Vector,
+        borderRadius: number,
+    ): ColliderDesc {
+        const shape = new RoundTriangle(a, b, c, borderRadius);
+        return new ColliderDesc(shape);
+    }
+
+    /**
+     * Creates a new collider descriptor with a polyline shape.
+     *
+     * @param vertices - The coordinates of the polyline's vertices.
+     * @param indices - The indices of the polyline's segments. If this is `undefined` or `null`,
+     *    the vertices are assumed to describe a line strip.
+     */
+    public static polyline(
+        vertices: Float32Array,
+        indices?: Uint32Array | null,
+    ): ColliderDesc {
+        const shape = new Polyline(vertices, indices);
+        return new ColliderDesc(shape);
+    }
+
+    /**
+     * Creates a new collider descriptor with a shape made of voxels.
+     *
+     * @param data - Defines the set of voxels. If this is a `Int32Array` then
+     *               each voxel is defined from its (signed) grid coordinates,
+     *               with 3 (resp 2) contiguous integers per voxel in 3D (resp 2D).
+     *               If this is a `Float32Array`, each voxel will be such that
+     *               they contain at least one point from this array (where each
+     *               point is defined from 3 (resp 2) contiguous numbers per point
+     *               in 3D (resp 2D).
+     * @param voxelSize - The size of each voxel.
+     */
+    public static voxels(
+        voxels: Float32Array | Int32Array,
+        voxelSize: Vector,
+    ): ColliderDesc {
+        const shape = new Voxels(voxels, voxelSize);
+        return new ColliderDesc(shape);
+    }
+
+    /**
+     * Creates a new collider descriptor with a triangle mesh shape.
+     *
+     * @param vertices - The coordinates of the triangle mesh's vertices.
+     * @param indices - The indices of the triangle mesh's triangles.
+     */
+    public static trimesh(
+        vertices: Float32Array,
+        indices: Uint32Array,
+        flags?: TriMeshFlags,
+    ): ColliderDesc {
+        const shape = new TriMesh(vertices, indices, flags);
+        return new ColliderDesc(shape);
+    }
+
+    // #if DIM2
+    /**
+     * Creates a new collider descriptor with a rectangular shape.
+     *
+     * @param hx - The half-width of the rectangle along its local `x` axis.
+     * @param hy - The half-width of the rectangle along its local `y` axis.
+     */
+    public static cuboid(hx: number, hy: number): ColliderDesc {
+        const shape = new Cuboid(hx, hy);
+        return new ColliderDesc(shape);
+    }
+
+    /**
+     * Creates a new collider descriptor with a rectangular shape with round borders.
+     *
+     * @param hx - The half-width of the rectangle along its local `x` axis.
+     * @param hy - The half-width of the rectangle along its local `y` axis.
+     * @param borderRadius - The radius of the cuboid's borders.
+     */
+    public static roundCuboid(
+        hx: number,
+        hy: number,
+        borderRadius: number,
+    ): ColliderDesc {
+        const shape = new RoundCuboid(hx, hy, borderRadius);
+        return new ColliderDesc(shape);
+    }
+
+    /**
+     * Creates a new collider description with a halfspace (infinite plane) shape.
+     *
+     * @param normal - The outward normal of the plane.
+     */
+    public static halfspace(normal: Vector): ColliderDesc {
+        const shape = new HalfSpace(normal);
+        return new ColliderDesc(shape);
+    }
+
+    /**
+     * Creates a new collider descriptor with a heightfield shape.
+     *
+     * @param heights - The heights of the heightfield, along its local `y` axis.
+     * @param scale - The scale factor applied to the heightfield.
+     */
+    public static heightfield(
+        heights: Float32Array,
+        scale: Vector,
+    ): ColliderDesc {
+        const shape = new Heightfield(heights, scale);
+        return new ColliderDesc(shape);
+    }
+
+    /**
+     * Computes the convex-hull of the given points and use the resulting
+     * convex polygon as the shape for this new collider descriptor.
+     *
+     * @param points - The point that will be used to compute the convex-hull.
+     */
+    public static convexHull(points: Float32Array): ColliderDesc | null {
+        const shape = new ConvexPolygon(points, false);
+        return new ColliderDesc(shape);
+    }
+
+    /**
+     * Creates a new collider descriptor that uses the given set of points assumed
+     * to form a convex polyline (no convex-hull computation will be done).
+     *
+     * @param vertices - The vertices of the convex polyline.
+     */
+    public static convexPolyline(vertices: Float32Array): ColliderDesc | null {
+        const shape = new ConvexPolygon(vertices, true);
+        return new ColliderDesc(shape);
+    }
+
+    /**
+     * Computes the convex-hull of the given points and use the resulting
+     * convex polygon as the shape for this new collider descriptor. A
+     * border is added to that convex polygon to give it round corners.
+     *
+     * @param points - The point that will be used to compute the convex-hull.
+     * @param borderRadius - The radius of the round border added to the convex polygon.
+     */
+    public static roundConvexHull(
+        points: Float32Array,
+        borderRadius: number,
+    ): ColliderDesc | null {
+        const shape = new RoundConvexPolygon(points, borderRadius, false);
+        return new ColliderDesc(shape);
+    }
+
+    /**
+     * Creates a new collider descriptor that uses the given set of points assumed
+     * to form a round convex polyline (no convex-hull computation will be done).
+     *
+     * @param vertices - The vertices of the convex polyline.
+     * @param borderRadius - The radius of the round border added to the convex polyline.
+     */
+    public static roundConvexPolyline(
+        vertices: Float32Array,
+        borderRadius: number,
+    ): ColliderDesc | null {
+        const shape = new RoundConvexPolygon(vertices, borderRadius, true);
+        return new ColliderDesc(shape);
+    }
+
+    // #endif
+
+    // #if DIM3
+    /**
+     * Creates a new collider descriptor with a cuboid shape.
+     *
+     * @param hx - The half-width of the rectangle along its local `x` axis.
+     * @param hy - The half-width of the rectangle along its local `y` axis.
+     * @param hz - The half-width of the rectangle along its local `z` axis.
+     */
+    public static cuboid(hx: number, hy: number, hz: number): ColliderDesc {
+        const shape = new Cuboid(hx, hy, hz);
+        return new ColliderDesc(shape);
+    }
+
+    /**
+     * Creates a new collider descriptor with a rectangular shape with round borders.
+     *
+     * @param hx - The half-width of the rectangle along its local `x` axis.
+     * @param hy - The half-width of the rectangle along its local `y` axis.
+     * @param hz - The half-width of the rectangle along its local `z` axis.
+     * @param borderRadius - The radius of the cuboid's borders.
+     */
+    public static roundCuboid(
+        hx: number,
+        hy: number,
+        hz: number,
+        borderRadius: number,
+    ): ColliderDesc {
+        const shape = new RoundCuboid(hx, hy, hz, borderRadius);
+        return new ColliderDesc(shape);
+    }
+
+    /**
+     * Creates a new collider descriptor with a heightfield shape.
+     *
+     * @param nrows − The number of rows in the heights matrix.
+     * @param ncols - The number of columns in the heights matrix.
+     * @param heights - The heights of the heightfield along its local `y` axis,
+     *                  provided as a matrix stored in column-major order.
+     * @param scale - The scale factor applied to the heightfield.
+     */
+    public static heightfield(
+        nrows: number,
+        ncols: number,
+        heights: Float32Array,
+        scale: Vector,
+        flags?: HeightFieldFlags,
+    ): ColliderDesc {
+        const shape = new Heightfield(nrows, ncols, heights, scale, flags);
+        return new ColliderDesc(shape);
+    }
+
+    /**
+     * Create a new collider descriptor with a cylinder shape.
+     *
+     * @param halfHeight - The half-height of the cylinder, along the `y` axis.
+     * @param radius - The radius of the cylinder basis.
+     */
+    public static cylinder(halfHeight: number, radius: number): ColliderDesc {
+        const shape = new Cylinder(halfHeight, radius);
+        return new ColliderDesc(shape);
+    }
+
+    /**
+     * Create a new collider descriptor with a cylinder shape with rounded corners.
+     *
+     * @param halfHeight - The half-height of the cylinder, along the `y` axis.
+     * @param radius - The radius of the cylinder basis.
+     * @param borderRadius - The radius of the cylinder's rounded edges and vertices.
+     */
+    public static roundCylinder(
+        halfHeight: number,
+        radius: number,
+        borderRadius: number,
+    ): ColliderDesc {
+        const shape = new RoundCylinder(halfHeight, radius, borderRadius);
+        return new ColliderDesc(shape);
+    }
+
+    /**
+     * Create a new collider descriptor with a cone shape.
+     *
+     * @param halfHeight - The half-height of the cone, along the `y` axis.
+     * @param radius - The radius of the cone basis.
+     */
+    public static cone(halfHeight: number, radius: number): ColliderDesc {
+        const shape = new Cone(halfHeight, radius);
+        return new ColliderDesc(shape);
+    }
+
+    /**
+     * Create a new collider descriptor with a cone shape with rounded corners.
+     *
+     * @param halfHeight - The half-height of the cone, along the `y` axis.
+     * @param radius - The radius of the cone basis.
+     * @param borderRadius - The radius of the cone's rounded edges and vertices.
+     */
+    public static roundCone(
+        halfHeight: number,
+        radius: number,
+        borderRadius: number,
+    ): ColliderDesc {
+        const shape = new RoundCone(halfHeight, radius, borderRadius);
+        return new ColliderDesc(shape);
+    }
+
+    /**
+     * Computes the convex-hull of the given points and use the resulting
+     * convex polyhedron as the shape for this new collider descriptor.
+     *
+     * @param points - The point that will be used to compute the convex-hull.
+     */
+    public static convexHull(points: Float32Array): ColliderDesc | null {
+        const shape = new ConvexPolyhedron(points, null);
+        return new ColliderDesc(shape);
+    }
+
+    /**
+     * Creates a new collider descriptor that uses the given set of points assumed
+     * to form a convex polyline (no convex-hull computation will be done).
+     *
+     * @param vertices - The vertices of the convex polyline.
+     */
+    public static convexMesh(
+        vertices: Float32Array,
+        indices?: Uint32Array | null,
+    ): ColliderDesc | null {
+        const shape = new ConvexPolyhedron(vertices, indices);
+        return new ColliderDesc(shape);
+    }
+
+    /**
+     * Computes the convex-hull of the given points and use the resulting
+     * convex polyhedron as the shape for this new collider descriptor. A
+     * border is added to that convex polyhedron to give it round corners.
+     *
+     * @param points - The point that will be used to compute the convex-hull.
+     * @param borderRadius - The radius of the round border added to the convex polyhedron.
+     */
+    public static roundConvexHull(
+        points: Float32Array,
+        borderRadius: number,
+    ): ColliderDesc | null {
+        const shape = new RoundConvexPolyhedron(points, null, borderRadius);
+        return new ColliderDesc(shape);
+    }
+
+    /**
+     * Creates a new collider descriptor that uses the given set of points assumed
+     * to form a round convex polyline (no convex-hull computation will be done).
+     *
+     * @param vertices - The vertices of the convex polyline.
+     * @param borderRadius - The radius of the round border added to the convex polyline.
+     */
+    public static roundConvexMesh(
+        vertices: Float32Array,
+        indices: Uint32Array | null,
+        borderRadius: number,
+    ): ColliderDesc | null {
+        const shape = new RoundConvexPolyhedron(
+            vertices,
+            indices,
+            borderRadius,
+        );
+        return new ColliderDesc(shape);
+    }
+
+    // #endif
+
+    // #if DIM2
+    /**
+     * Sets the position of the collider to be created relative to the rigid-body it is attached to.
+     */
+    public setTranslation(x: number, y: number): ColliderDesc {
+        if (typeof x != "number" || typeof y != "number")
+            throw TypeError("The translation components must be numbers.");
+
+        this.translation = {x: x, y: y};
+        return this;
+    }
+
+    // #endif
+
+    // #if DIM3
+    /**
+     * Sets the position of the collider to be created relative to the rigid-body it is attached to.
+     */
+    public setTranslation(x: number, y: number, z: number): ColliderDesc {
+        if (
+            typeof x != "number" ||
+            typeof y != "number" ||
+            typeof z != "number"
+        )
+            throw TypeError("The translation components must be numbers.");
+
+        this.translation = {x: x, y: y, z: z};
+        return this;
+    }
+
+    // #endif
+
+    /**
+     * Sets the rotation of the collider to be created relative to the rigid-body it is attached to.
+     *
+     * @param rot - The rotation of the collider to be created relative to the rigid-body it is attached to.
+     */
+    public setRotation(rot: Rotation): ColliderDesc {
+        // #if DIM2
+        this.rotation = rot;
+        // #endif
+        // #if DIM3
+        RotationOps.copy(this.rotation, rot);
+        // #endif
+        return this;
+    }
+
+    /**
+     * Sets whether or not the collider being created is a sensor.
+     *
+     * A sensor collider does not take part of the physics simulation, but generates
+     * proximity events.
+     *
+     * @param sensor - Set to `true` of the collider built is to be a sensor.
+     */
+    public setSensor(sensor: boolean): ColliderDesc {
+        this.isSensor = sensor;
+        return this;
+    }
+
+    /**
+     * Sets whether the created collider will be enabled or disabled.
+     * @param enabled − If set to `false` the collider will be disabled at creation.
+     */
+    public setEnabled(enabled: boolean): ColliderDesc {
+        this.enabled = enabled;
+        return this;
+    }
+
+    /**
+     * Sets the contact skin of the collider.
+     *
+     * The contact skin acts as if the collider was enlarged with a skin of width `skin_thickness`
+     * around it, keeping objects further apart when colliding.
+     *
+     * A non-zero contact skin can increase performance, and in some cases, stability. However
+     * it creates a small gap between colliding object (equal to the sum of their skin). If the
+     * skin is sufficiently small, this might not be visually significant or can be hidden by the
+     * rendering assets.
+     */
+    public setContactSkin(thickness: number): ColliderDesc {
+        this.contactSkin = thickness;
+        return this;
+    }
+
+    /**
+     * Sets the density of the collider being built.
+     *
+     * The mass and angular inertia tensor will be computed automatically based on this density and the collider’s shape.
+     *
+     * @param density - The density to set, must be greater or equal to 0. A density of 0 means that this collider
+     *                  will not affect the mass or angular inertia of the rigid-body it is attached to.
+     */
+    public setDensity(density: number): ColliderDesc {
+        this.massPropsMode = MassPropsMode.Density;
+        this.density = density;
+        return this;
+    }
+
+    /**
+     * Sets the mass of the collider being built.
+     *
+     * The angular inertia tensor will be computed automatically based on this mass and the collider’s shape.
+     *
+     * @param mass - The mass to set, must be greater or equal to 0.
+     */
+    public setMass(mass: number): ColliderDesc {
+        this.massPropsMode = MassPropsMode.Mass;
+        this.mass = mass;
+        return this;
+    }
+
+    // #if DIM2
+    /**
+     * Sets the mass properties of the collider being built.
+     *
+     * This replaces the mass-properties automatically computed from the collider's density and shape.
+     * These mass-properties will be added to the mass-properties of the rigid-body this collider will be attached to.
+     *
+     * @param mass − The mass of the collider to create.
+     * @param centerOfMass − The center-of-mass of the collider to create.
+     * @param principalAngularInertia − The principal angular inertia of the collider to create.
+     */
+    public setMassProperties(
+        mass: number,
+        centerOfMass: Vector,
+        principalAngularInertia: number,
+    ): ColliderDesc {
+        this.massPropsMode = MassPropsMode.MassProps;
+        this.mass = mass;
+        VectorOps.copy(this.centerOfMass, centerOfMass);
+        this.principalAngularInertia = principalAngularInertia;
+        return this;
+    }
+
+    // #endif
+
+    // #if DIM3
+    /**
+     * Sets the mass properties of the collider being built.
+     *
+     * This replaces the mass-properties automatically computed from the collider's density and shape.
+     * These mass-properties will be added to the mass-properties of the rigid-body this collider will be attached to.
+     *
+     * @param mass − The mass of the collider to create.
+     * @param centerOfMass − The center-of-mass of the collider to create.
+     * @param principalAngularInertia − The initial principal angular inertia of the collider to create.
+     *                                  These are the eigenvalues of the angular inertia matrix.
+     * @param angularInertiaLocalFrame − The initial local angular inertia frame of the collider to create.
+     *                                   These are the eigenvectors of the angular inertia matrix.
+     */
+    public setMassProperties(
+        mass: number,
+        centerOfMass: Vector,
+        principalAngularInertia: Vector,
+        angularInertiaLocalFrame: Rotation,
+    ): ColliderDesc {
+        this.massPropsMode = MassPropsMode.MassProps;
+        this.mass = mass;
+        VectorOps.copy(this.centerOfMass, centerOfMass);
+        VectorOps.copy(this.principalAngularInertia, principalAngularInertia);
+        RotationOps.copy(
+            this.angularInertiaLocalFrame,
+            angularInertiaLocalFrame,
+        );
+        return this;
+    }
+
+    // #endif
+
+    /**
+     * Sets the restitution coefficient of the collider to be created.
+     *
+     * @param restitution - The restitution coefficient in `[0, 1]`. A value of 0 (the default) means no bouncing behavior
+     *                   while 1 means perfect bouncing (though energy may still be lost due to numerical errors of the
+     *                   constraints solver).
+     */
+    public setRestitution(restitution: number): ColliderDesc {
+        this.restitution = restitution;
+        return this;
+    }
+
+    /**
+     * Sets the friction coefficient of the collider to be created.
+     *
+     * @param friction - The friction coefficient. Must be greater or equal to 0. This is generally smaller than 1. The
+     *                   higher the coefficient, the stronger friction forces will be for contacts with the collider
+     *                   being built.
+     */
+    public setFriction(friction: number): ColliderDesc {
+        this.friction = friction;
+        return this;
+    }
+
+    /**
+     * Sets the rule used to combine the friction coefficients of two colliders
+     * colliders involved in a contact.
+     *
+     * @param rule − The combine rule to apply.
+     */
+    public setFrictionCombineRule(rule: CoefficientCombineRule): ColliderDesc {
+        this.frictionCombineRule = rule;
+        return this;
+    }
+
+    /**
+     * Sets the rule used to combine the restitution coefficients of two colliders
+     * colliders involved in a contact.
+     *
+     * @param rule − The combine rule to apply.
+     */
+    public setRestitutionCombineRule(
+        rule: CoefficientCombineRule,
+    ): ColliderDesc {
+        this.restitutionCombineRule = rule;
+        return this;
+    }
+
+    /**
+     * Sets the collision groups used by this collider.
+     *
+     * Two colliders will interact iff. their collision groups are compatible.
+     * See the documentation of `InteractionGroups` for details on teh used bit pattern.
+     *
+     * @param groups - The collision groups used for the collider being built.
+     */
+    public setCollisionGroups(groups: InteractionGroups): ColliderDesc {
+        this.collisionGroups = groups;
+        return this;
+    }
+
+    /**
+     * Sets the solver groups used by this collider.
+     *
+     * Forces between two colliders in contact will be computed iff their solver
+     * groups are compatible.
+     * See the documentation of `InteractionGroups` for details on the used bit pattern.
+     *
+     * @param groups - The solver groups used for the collider being built.
+     */
+    public setSolverGroups(groups: InteractionGroups): ColliderDesc {
+        this.solverGroups = groups;
+        return this;
+    }
+
+    /**
+     * Set the physics hooks active for this collider.
+     *
+     * Use this to enable custom filtering rules for contact/intersecstion pairs involving this collider.
+     *
+     * @param activeHooks - The hooks active for contact/intersection pairs involving this collider.
+     */
+    public setActiveHooks(activeHooks: ActiveHooks): ColliderDesc {
+        this.activeHooks = activeHooks;
+        return this;
+    }
+
+    /**
+     * Set the events active for this collider.
+     *
+     * Use this to enable contact and/or intersection event reporting for this collider.
+     *
+     * @param activeEvents - The events active for contact/intersection pairs involving this collider.
+     */
+    public setActiveEvents(activeEvents: ActiveEvents): ColliderDesc {
+        this.activeEvents = activeEvents;
+        return this;
+    }
+
+    /**
+     * Set the collision types active for this collider.
+     *
+     * @param activeCollisionTypes - The hooks active for contact/intersection pairs involving this collider.
+     */
+    public setActiveCollisionTypes(
+        activeCollisionTypes: ActiveCollisionTypes,
+    ): ColliderDesc {
+        this.activeCollisionTypes = activeCollisionTypes;
+        return this;
+    }
+
+    /**
+     * Sets the total force magnitude beyond which a contact force event can be emitted.
+     *
+     * @param threshold - The force threshold to set.
+     */
+    public setContactForceEventThreshold(threshold: number): ColliderDesc {
+        this.contactForceEventThreshold = threshold;
+        return this;
+    }
+}
diff --git a/thirdparty/rapier.js/src.ts/geometry/collider_set.ts b/thirdparty/rapier.js/src.ts/geometry/collider_set.ts
new file mode 100644
index 00000000..832b837a
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/geometry/collider_set.ts
@@ -0,0 +1,213 @@
+import {RawColliderSet} from "../raw";
+import {Coarena} from "../coarena";
+import {RotationOps, VectorOps} from "../math";
+import {Collider, ColliderDesc, ColliderHandle} from "./collider";
+import {ImpulseJointHandle, IslandManager, RigidBodyHandle} from "../dynamics";
+import {RigidBodySet} from "../dynamics";
+
+/**
+ * A set of rigid bodies that can be handled by a physics pipeline.
+ *
+ * To avoid leaking WASM resources, this MUST be freed manually with `colliderSet.free()`
+ * once you are done using it (and all the rigid-bodies it created).
+ */
+export class ColliderSet {
+    raw: RawColliderSet;
+    private map: Coarena<Collider>;
+
+    /**
+     * Release the WASM memory occupied by this collider set.
+     */
+    public free() {
+        if (!!this.raw) {
+            this.raw.free();
+        }
+        this.raw = undefined;
+
+        if (!!this.map) {
+            this.map.clear();
+        }
+        this.map = undefined;
+    }
+
+    constructor(raw?: RawColliderSet) {
+        this.raw = raw || new RawColliderSet();
+        this.map = new Coarena<Collider>();
+        // Initialize the map with the existing elements, if any.
+        if (raw) {
+            raw.forEachColliderHandle((handle: ColliderHandle) => {
+                this.map.set(handle, new Collider(this, handle, null));
+            });
+        }
+    }
+
+    /** @internal */
+    public castClosure<Res>(
+        f?: (collider: Collider) => Res,
+    ): (handle: ColliderHandle) => Res | undefined {
+        return (handle) => {
+            if (!!f) {
+                return f(this.get(handle));
+            } else {
+                return undefined;
+            }
+        };
+    }
+
+    /** @internal */
+    public finalizeDeserialization(bodies: RigidBodySet) {
+        this.map.forEach((collider) =>
+            collider.finalizeDeserialization(bodies),
+        );
+    }
+
+    /**
+     * Creates a new collider and return its integer handle.
+     *
+     * @param bodies - The set of bodies where the collider's parent can be found.
+     * @param desc - The collider's description.
+     * @param parentHandle - The integer handle of the rigid-body this collider is attached to.
+     */
+    public createCollider(
+        bodies: RigidBodySet,
+        desc: ColliderDesc,
+        parentHandle: RigidBodyHandle,
+    ): Collider {
+        let hasParent = parentHandle != undefined && parentHandle != null;
+
+        if (hasParent && isNaN(parentHandle))
+            throw Error(
+                "Cannot create a collider with a parent rigid-body handle that is not a number.",
+            );
+
+        let rawShape = desc.shape.intoRaw();
+        let rawTra = VectorOps.intoRaw(desc.translation);
+        let rawRot = RotationOps.intoRaw(desc.rotation);
+        let rawCom = VectorOps.intoRaw(desc.centerOfMass);
+
+        // #if DIM3
+        let rawPrincipalInertia = VectorOps.intoRaw(
+            desc.principalAngularInertia,
+        );
+        let rawInertiaFrame = RotationOps.intoRaw(
+            desc.angularInertiaLocalFrame,
+        );
+        // #endif
+
+        let handle = this.raw.createCollider(
+            desc.enabled,
+            rawShape,
+            rawTra,
+            rawRot,
+            desc.massPropsMode,
+            desc.mass,
+            rawCom,
+            // #if DIM2
+            desc.principalAngularInertia,
+            // #endif
+            // #if DIM3
+            rawPrincipalInertia,
+            rawInertiaFrame,
+            // #endif
+            desc.density,
+            desc.friction,
+            desc.restitution,
+            desc.frictionCombineRule,
+            desc.restitutionCombineRule,
+            desc.isSensor,
+            desc.collisionGroups,
+            desc.solverGroups,
+            desc.activeCollisionTypes,
+            desc.activeHooks,
+            desc.activeEvents,
+            desc.contactForceEventThreshold,
+            desc.contactSkin,
+            hasParent,
+            hasParent ? parentHandle : 0,
+            bodies.raw,
+        );
+
+        rawShape.free();
+        rawTra.free();
+        rawRot.free();
+        rawCom.free();
+
+        // #if DIM3
+        rawPrincipalInertia.free();
+        rawInertiaFrame.free();
+        // #endif
+
+        let parent = hasParent ? bodies.get(parentHandle) : null;
+        let collider = new Collider(this, handle, parent, desc.shape);
+        this.map.set(handle, collider);
+        return collider;
+    }
+
+    /**
+     * Remove a collider from this set.
+     *
+     * @param handle - The integer handle of the collider to remove.
+     * @param bodies - The set of rigid-body containing the rigid-body the collider is attached to.
+     * @param wakeUp - If `true`, the rigid-body the removed collider is attached to will be woken-up automatically.
+     */
+    public remove(
+        handle: ColliderHandle,
+        islands: IslandManager,
+        bodies: RigidBodySet,
+        wakeUp: boolean,
+    ) {
+        this.raw.remove(handle, islands.raw, bodies.raw, wakeUp);
+        this.unmap(handle);
+    }
+
+    /**
+     * Internal function, do not call directly.
+     * @param handle
+     */
+    public unmap(handle: ImpulseJointHandle) {
+        this.map.delete(handle);
+    }
+
+    /**
+     * Gets the rigid-body with the given handle.
+     *
+     * @param handle - The handle of the rigid-body to retrieve.
+     */
+    public get(handle: ColliderHandle): Collider | null {
+        return this.map.get(handle);
+    }
+
+    /**
+     * The number of colliders on this set.
+     */
+    public len(): number {
+        return this.map.len();
+    }
+
+    /**
+     * Does this set contain a collider with the given handle?
+     *
+     * @param handle - The collider handle to check.
+     */
+    public contains(handle: ColliderHandle): boolean {
+        return this.get(handle) != null;
+    }
+
+    /**
+     * Applies the given closure to each collider contained by this set.
+     *
+     * @param f - The closure to apply.
+     */
+    public forEach(f: (collider: Collider) => void) {
+        this.map.forEach(f);
+    }
+
+    /**
+     * Gets all colliders in the list.
+     *
+     * @returns collider list.
+     */
+    public getAll(): Collider[] {
+        return this.map.getAll();
+    }
+}
diff --git a/thirdparty/rapier.js/src.ts/geometry/contact.ts b/thirdparty/rapier.js/src.ts/geometry/contact.ts
new file mode 100644
index 00000000..802f57f4
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/geometry/contact.ts
@@ -0,0 +1,62 @@
+import {Vector, VectorOps} from "../math";
+import {RawShapeContact} from "../raw";
+
+/**
+ * The contact info between two shapes.
+ */
+export class ShapeContact {
+    /**
+     * Distance between the two contact points.
+     * If this is negative, this contact represents a penetration.
+     */
+    distance: number;
+
+    /**
+     * Position of the contact on the first shape.
+     */
+    point1: Vector;
+
+    /**
+     * Position of the contact on the second shape.
+     */
+    point2: Vector;
+
+    /**
+     * Contact normal, pointing towards the exterior of the first shape.
+     */
+    normal1: Vector;
+
+    /**
+     * Contact normal, pointing towards the exterior of the second shape.
+     * If these contact data are expressed in world-space, this normal is equal to -normal1.
+     */
+    normal2: Vector;
+
+    constructor(
+        dist: number,
+        point1: Vector,
+        point2: Vector,
+        normal1: Vector,
+        normal2: Vector,
+    ) {
+        this.distance = dist;
+        this.point1 = point1;
+        this.point2 = point2;
+        this.normal1 = normal1;
+        this.normal2 = normal2;
+    }
+
+    public static fromRaw(raw: RawShapeContact): ShapeContact {
+        if (!raw) return null;
+
+        const result = new ShapeContact(
+            raw.distance(),
+            VectorOps.fromRaw(raw.point1()),
+            VectorOps.fromRaw(raw.point2()),
+            VectorOps.fromRaw(raw.normal1()),
+            VectorOps.fromRaw(raw.normal2()),
+        );
+        raw.free();
+        return result;
+    }
+}
diff --git a/thirdparty/rapier.js/src.ts/geometry/feature.ts b/thirdparty/rapier.js/src.ts/geometry/feature.ts
new file mode 100644
index 00000000..bec9560d
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/geometry/feature.ts
@@ -0,0 +1,16 @@
+// #if DIM2
+export enum FeatureType {
+    Vertex,
+    Face,
+    Unknown,
+}
+// #endif
+
+// #if DIM3
+export enum FeatureType {
+    Vertex,
+    Edge,
+    Face,
+    Unknown,
+}
+// #endif
diff --git a/thirdparty/rapier.js/src.ts/geometry/index.ts b/thirdparty/rapier.js/src.ts/geometry/index.ts
new file mode 100644
index 00000000..1bd19e50
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/geometry/index.ts
@@ -0,0 +1,11 @@
+export * from "./broad_phase";
+export * from "./narrow_phase";
+export * from "./shape";
+export * from "./collider";
+export * from "./collider_set";
+export * from "./feature";
+export * from "./ray";
+export * from "./point";
+export * from "./toi";
+export * from "./interaction_groups";
+export * from "./contact";
diff --git a/thirdparty/rapier.js/src.ts/geometry/interaction_groups.ts b/thirdparty/rapier.js/src.ts/geometry/interaction_groups.ts
new file mode 100644
index 00000000..4d73fd31
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/geometry/interaction_groups.ts
@@ -0,0 +1,18 @@
+/**
+ * Pairwise filtering using bit masks.
+ *
+ * This filtering method is based on two 16-bit values:
+ * - The interaction groups (the 16 left-most bits of `self.0`).
+ * - The interaction mask (the 16 right-most bits of `self.0`).
+ *
+ * An interaction is allowed between two filters `a` and `b` two conditions
+ * are met simultaneously:
+ * - The interaction groups of `a` has at least one bit set to `1` in common with the interaction mask of `b`.
+ * - The interaction groups of `b` has at least one bit set to `1` in common with the interaction mask of `a`.
+ * In other words, interactions are allowed between two filter iff. the following condition is met:
+ *
+ * ```
+ * ((a >> 16) & b) != 0 && ((b >> 16) & a) != 0
+ * ```
+ */
+export type InteractionGroups = number;
diff --git a/thirdparty/rapier.js/src.ts/geometry/narrow_phase.ts b/thirdparty/rapier.js/src.ts/geometry/narrow_phase.ts
new file mode 100644
index 00000000..af04a227
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/geometry/narrow_phase.ts
@@ -0,0 +1,203 @@
+import {RawNarrowPhase, RawContactManifold} from "../raw";
+import {ColliderHandle} from "./collider";
+import {Vector, VectorOps} from "../math";
+
+/**
+ * The narrow-phase used for precise collision-detection.
+ *
+ * To avoid leaking WASM resources, this MUST be freed manually with `narrowPhase.free()`
+ * once you are done using it.
+ */
+export class NarrowPhase {
+    raw: RawNarrowPhase;
+    tempManifold: TempContactManifold;
+
+    /**
+     * Release the WASM memory occupied by this narrow-phase.
+     */
+    public free() {
+        if (!!this.raw) {
+            this.raw.free();
+        }
+        this.raw = undefined;
+    }
+
+    constructor(raw?: RawNarrowPhase) {
+        this.raw = raw || new RawNarrowPhase();
+        this.tempManifold = new TempContactManifold(null);
+    }
+
+    /**
+     * Enumerates all the colliders potentially in contact with the given collider.
+     *
+     * @param collider1 - The second collider involved in the contact.
+     * @param f - Closure that will be called on each collider that is in contact with `collider1`.
+     */
+    public contactPairsWith(
+        collider1: ColliderHandle,
+        f: (collider2: ColliderHandle) => void,
+    ) {
+        this.raw.contact_pairs_with(collider1, f);
+    }
+
+    /**
+     * Enumerates all the colliders intersecting the given colliders, assuming one of them
+     * is a sensor.
+     */
+    public intersectionPairsWith(
+        collider1: ColliderHandle,
+        f: (collider2: ColliderHandle) => void,
+    ) {
+        this.raw.intersection_pairs_with(collider1, f);
+    }
+
+    /**
+     * Iterates through all the contact manifolds between the given pair of colliders.
+     *
+     * @param collider1 - The first collider involved in the contact.
+     * @param collider2 - The second collider involved in the contact.
+     * @param f - Closure that will be called on each contact manifold between the two colliders. If the second argument
+     *            passed to this closure is `true`, then the contact manifold data is flipped, i.e., methods like `localNormal1`
+     *            actually apply to the `collider2` and fields like `localNormal2` apply to the `collider1`.
+     */
+    public contactPair(
+        collider1: ColliderHandle,
+        collider2: ColliderHandle,
+        f: (manifold: TempContactManifold, flipped: boolean) => void,
+    ) {
+        const rawPair = this.raw.contact_pair(collider1, collider2);
+
+        if (!!rawPair) {
+            const flipped = rawPair.collider1() != collider1;
+
+            let i;
+            for (i = 0; i < rawPair.numContactManifolds(); ++i) {
+                this.tempManifold.raw = rawPair.contactManifold(i);
+                if (!!this.tempManifold.raw) {
+                    f(this.tempManifold, flipped);
+                }
+
+                // SAFETY: The RawContactManifold stores a raw pointer that will be invalidated
+                //         at the next timestep. So we must be sure to free the pair here
+                //         to avoid unsoundness in the Rust code.
+                this.tempManifold.free();
+            }
+            rawPair.free();
+        }
+    }
+
+    /**
+     * Returns `true` if `collider1` and `collider2` intersect and at least one of them is a sensor.
+     * @param collider1 − The first collider involved in the intersection.
+     * @param collider2 − The second collider involved in the intersection.
+     */
+    public intersectionPair(
+        collider1: ColliderHandle,
+        collider2: ColliderHandle,
+    ): boolean {
+        return this.raw.intersection_pair(collider1, collider2);
+    }
+}
+
+export class TempContactManifold {
+    raw: RawContactManifold;
+
+    public free() {
+        if (!!this.raw) {
+            this.raw.free();
+        }
+        this.raw = undefined;
+    }
+
+    constructor(raw: RawContactManifold) {
+        this.raw = raw;
+    }
+
+    public normal(): Vector {
+        return VectorOps.fromRaw(this.raw.normal());
+    }
+
+    public localNormal1(): Vector {
+        return VectorOps.fromRaw(this.raw.local_n1());
+    }
+
+    public localNormal2(): Vector {
+        return VectorOps.fromRaw(this.raw.local_n2());
+    }
+
+    public subshape1(): number {
+        return this.raw.subshape1();
+    }
+
+    public subshape2(): number {
+        return this.raw.subshape2();
+    }
+
+    public numContacts(): number {
+        return this.raw.num_contacts();
+    }
+
+    public localContactPoint1(i: number): Vector | null {
+        return VectorOps.fromRaw(this.raw.contact_local_p1(i));
+    }
+
+    public localContactPoint2(i: number): Vector | null {
+        return VectorOps.fromRaw(this.raw.contact_local_p2(i));
+    }
+
+    public contactDist(i: number): number {
+        return this.raw.contact_dist(i);
+    }
+
+    public contactFid1(i: number): number {
+        return this.raw.contact_fid1(i);
+    }
+
+    public contactFid2(i: number): number {
+        return this.raw.contact_fid2(i);
+    }
+
+    public contactImpulse(i: number): number {
+        return this.raw.contact_impulse(i);
+    }
+
+    // #if DIM2
+    public contactTangentImpulse(i: number): number {
+        return this.raw.contact_tangent_impulse(i);
+    }
+    // #endif
+
+    // #if DIM3
+    public contactTangentImpulseX(i: number): number {
+        return this.raw.contact_tangent_impulse_x(i);
+    }
+
+    public contactTangentImpulseY(i: number): number {
+        return this.raw.contact_tangent_impulse_y(i);
+    }
+    // #endif
+
+    public numSolverContacts(): number {
+        return this.raw.num_solver_contacts();
+    }
+
+    public solverContactPoint(i: number): Vector {
+        return VectorOps.fromRaw(this.raw.solver_contact_point(i));
+    }
+
+    public solverContactDist(i: number): number {
+        return this.raw.solver_contact_dist(i);
+    }
+
+    public solverContactFriction(i: number): number {
+        return this.raw.solver_contact_friction(i);
+    }
+
+    public solverContactRestitution(i: number): number {
+        return this.raw.solver_contact_restitution(i);
+    }
+
+    public solverContactTangentVelocity(i: number): Vector {
+        return VectorOps.fromRaw(this.raw.solver_contact_tangent_velocity(i));
+    }
+}
diff --git a/thirdparty/rapier.js/src.ts/geometry/point.ts b/thirdparty/rapier.js/src.ts/geometry/point.ts
new file mode 100644
index 00000000..d272b7e8
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/geometry/point.ts
@@ -0,0 +1,98 @@
+import {Collider, ColliderHandle} from "./collider";
+import {Vector, VectorOps} from "../math";
+import {
+    RawFeatureType,
+    RawPointColliderProjection,
+    RawPointProjection,
+} from "../raw";
+import {FeatureType} from "./feature";
+import {ColliderSet} from "./collider_set";
+
+/**
+ * The projection of a point on a collider.
+ */
+export class PointProjection {
+    /**
+     * The projection of the point on the collider.
+     */
+    point: Vector;
+    /**
+     * Is the point inside of the collider?
+     */
+    isInside: boolean;
+
+    constructor(point: Vector, isInside: boolean) {
+        this.point = point;
+        this.isInside = isInside;
+    }
+
+    public static fromRaw(raw: RawPointProjection): PointProjection {
+        if (!raw) return null;
+
+        const result = new PointProjection(
+            VectorOps.fromRaw(raw.point()),
+            raw.isInside(),
+        );
+        raw.free();
+        return result;
+    }
+}
+
+/**
+ * The projection of a point on a collider (includes the collider handle).
+ */
+export class PointColliderProjection {
+    /**
+     * The collider hit by the ray.
+     */
+    collider: Collider;
+    /**
+     * The projection of the point on the collider.
+     */
+    point: Vector;
+    /**
+     * Is the point inside of the collider?
+     */
+    isInside: boolean;
+
+    /**
+     * The type of the geometric feature the point was projected on.
+     */
+    featureType = FeatureType.Unknown;
+
+    /**
+     * The id of the geometric feature the point was projected on.
+     */
+    featureId: number | undefined = undefined;
+
+    constructor(
+        collider: Collider,
+        point: Vector,
+        isInside: boolean,
+        featureType?: FeatureType,
+        featureId?: number,
+    ) {
+        this.collider = collider;
+        this.point = point;
+        this.isInside = isInside;
+        if (featureId !== undefined) this.featureId = featureId;
+        if (featureType !== undefined) this.featureType = featureType;
+    }
+
+    public static fromRaw(
+        colliderSet: ColliderSet,
+        raw: RawPointColliderProjection,
+    ): PointColliderProjection {
+        if (!raw) return null;
+
+        const result = new PointColliderProjection(
+            colliderSet.get(raw.colliderHandle()),
+            VectorOps.fromRaw(raw.point()),
+            raw.isInside(),
+            raw.featureType() as number as FeatureType,
+            raw.featureId(),
+        );
+        raw.free();
+        return result;
+    }
+}
diff --git a/thirdparty/rapier.js/src.ts/geometry/ray.ts b/thirdparty/rapier.js/src.ts/geometry/ray.ts
new file mode 100644
index 00000000..36df5ee3
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/geometry/ray.ts
@@ -0,0 +1,192 @@
+import {Vector, VectorOps} from "../math";
+import {
+    RawFeatureType,
+    RawRayColliderIntersection,
+    RawRayColliderHit,
+    RawRayIntersection,
+} from "../raw";
+import {Collider} from "./collider";
+import {FeatureType} from "./feature";
+import {ColliderSet} from "./collider_set";
+
+/**
+ * A ray. This is a directed half-line.
+ */
+export class Ray {
+    /**
+     * The starting point of the ray.
+     */
+    public origin: Vector;
+    /**
+     * The direction of propagation of the ray.
+     */
+    public dir: Vector;
+
+    /**
+     * Builds a ray from its origin and direction.
+     *
+     * @param origin - The ray's starting point.
+     * @param dir - The ray's direction of propagation.
+     */
+    constructor(origin: Vector, dir: Vector) {
+        this.origin = origin;
+        this.dir = dir;
+    }
+
+    public pointAt(t: number): Vector {
+        return {
+            x: this.origin.x + this.dir.x * t,
+            y: this.origin.y + this.dir.y * t,
+            // #if DIM3
+            z: this.origin.z + this.dir.z * t,
+            // #endif
+        };
+    }
+}
+
+/**
+ * The intersection between a ray and a collider.
+ */
+export class RayIntersection {
+    /**
+     * The time-of-impact of the ray with the collider.
+     *
+     * The hit point is obtained from the ray's origin and direction: `origin + dir * timeOfImpact`.
+     */
+    timeOfImpact: number;
+    /**
+     * The normal of the collider at the hit point.
+     */
+    normal: Vector;
+
+    /**
+     * The type of the geometric feature the point was projected on.
+     */
+    featureType = FeatureType.Unknown;
+
+    /**
+     * The id of the geometric feature the point was projected on.
+     */
+    featureId: number | undefined = undefined;
+
+    constructor(
+        timeOfImpact: number,
+        normal: Vector,
+        featureType?: FeatureType,
+        featureId?: number,
+    ) {
+        this.timeOfImpact = timeOfImpact;
+        this.normal = normal;
+        if (featureId !== undefined) this.featureId = featureId;
+        if (featureType !== undefined) this.featureType = featureType;
+    }
+
+    public static fromRaw(raw: RawRayIntersection): RayIntersection {
+        if (!raw) return null;
+
+        const result = new RayIntersection(
+            raw.time_of_impact(),
+            VectorOps.fromRaw(raw.normal()),
+            raw.featureType() as number as FeatureType,
+            raw.featureId(),
+        );
+        raw.free();
+        return result;
+    }
+}
+
+/**
+ * The intersection between a ray and a collider (includes the collider handle).
+ */
+export class RayColliderIntersection {
+    /**
+     * The collider hit by the ray.
+     */
+    collider: Collider;
+    /**
+     * The time-of-impact of the ray with the collider.
+     *
+     * The hit point is obtained from the ray's origin and direction: `origin + dir * timeOfImpact`.
+     */
+    timeOfImpact: number;
+    /**
+     * The normal of the collider at the hit point.
+     */
+    normal: Vector;
+
+    /**
+     * The type of the geometric feature the point was projected on.
+     */
+    featureType = FeatureType.Unknown;
+
+    /**
+     * The id of the geometric feature the point was projected on.
+     */
+    featureId: number | undefined = undefined;
+
+    constructor(
+        collider: Collider,
+        timeOfImpact: number,
+        normal: Vector,
+        featureType?: FeatureType,
+        featureId?: number,
+    ) {
+        this.collider = collider;
+        this.timeOfImpact = timeOfImpact;
+        this.normal = normal;
+        if (featureId !== undefined) this.featureId = featureId;
+        if (featureType !== undefined) this.featureType = featureType;
+    }
+
+    public static fromRaw(
+        colliderSet: ColliderSet,
+        raw: RawRayColliderIntersection,
+    ): RayColliderIntersection {
+        if (!raw) return null;
+
+        const result = new RayColliderIntersection(
+            colliderSet.get(raw.colliderHandle()),
+            raw.time_of_impact(),
+            VectorOps.fromRaw(raw.normal()),
+            raw.featureType() as number as FeatureType,
+            raw.featureId(),
+        );
+        raw.free();
+        return result;
+    }
+}
+
+/**
+ * The time of impact between a ray and a collider.
+ */
+export class RayColliderHit {
+    /**
+     * The handle of the collider hit by the ray.
+     */
+    collider: Collider;
+    /**
+     * The time-of-impact of the ray with the collider.
+     *
+     * The hit point is obtained from the ray's origin and direction: `origin + dir * timeOfImpact`.
+     */
+    timeOfImpact: number;
+
+    constructor(collider: Collider, timeOfImpact: number) {
+        this.collider = collider;
+        this.timeOfImpact = timeOfImpact;
+    }
+
+    public static fromRaw(
+        colliderSet: ColliderSet,
+        raw: RawRayColliderHit,
+    ): RayColliderHit {
+        if (!raw) return null;
+
+        const result = new RayColliderHit(
+            colliderSet.get(raw.colliderHandle()),
+            raw.timeOfImpact(),
+        );
+        raw.free();
+        return result;
+    }
+}
diff --git a/thirdparty/rapier.js/src.ts/geometry/shape.ts b/thirdparty/rapier.js/src.ts/geometry/shape.ts
new file mode 100644
index 00000000..f3546982
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/geometry/shape.ts
@@ -0,0 +1,1558 @@
+import {Vector, VectorOps, Rotation, RotationOps} from "../math";
+import {RawColliderSet, RawShape, RawShapeType} from "../raw";
+import {ShapeContact} from "./contact";
+import {PointProjection} from "./point";
+import {Ray, RayIntersection} from "./ray";
+import {ShapeCastHit} from "./toi";
+import {ColliderHandle} from "./collider";
+
+export abstract class Shape {
+    public abstract intoRaw(): RawShape;
+
+    /**
+     * The concrete type of this shape.
+     */
+    public abstract get type(): ShapeType;
+
+    /**
+     * instant mode without cache
+     */
+    public static fromRaw(
+        rawSet: RawColliderSet,
+        handle: ColliderHandle,
+    ): Shape {
+        const rawType = rawSet.coShapeType(handle);
+
+        let extents: Vector;
+        let borderRadius: number;
+        let vs: Float32Array;
+        let indices: Uint32Array;
+        let halfHeight: number;
+        let radius: number;
+        let normal: Vector;
+
+        switch (rawType) {
+            case RawShapeType.Ball:
+                return new Ball(rawSet.coRadius(handle));
+            case RawShapeType.Cuboid:
+                extents = rawSet.coHalfExtents(handle);
+                // #if DIM2
+                return new Cuboid(extents.x, extents.y);
+                // #endif
+
+                // #if DIM3
+                return new Cuboid(extents.x, extents.y, extents.z);
+            // #endif
+
+            case RawShapeType.RoundCuboid:
+                extents = rawSet.coHalfExtents(handle);
+                borderRadius = rawSet.coRoundRadius(handle);
+
+                // #if DIM2
+                return new RoundCuboid(extents.x, extents.y, borderRadius);
+                // #endif
+
+                // #if DIM3
+                return new RoundCuboid(
+                    extents.x,
+                    extents.y,
+                    extents.z,
+                    borderRadius,
+                );
+            // #endif
+
+            case RawShapeType.Capsule:
+                halfHeight = rawSet.coHalfHeight(handle);
+                radius = rawSet.coRadius(handle);
+                return new Capsule(halfHeight, radius);
+            case RawShapeType.Segment:
+                vs = rawSet.coVertices(handle);
+
+                // #if DIM2
+                return new Segment(
+                    VectorOps.new(vs[0], vs[1]),
+                    VectorOps.new(vs[2], vs[3]),
+                );
+                // #endif
+
+                // #if DIM3
+                return new Segment(
+                    VectorOps.new(vs[0], vs[1], vs[2]),
+                    VectorOps.new(vs[3], vs[4], vs[5]),
+                );
+            // #endif
+
+            case RawShapeType.Polyline:
+                vs = rawSet.coVertices(handle);
+                indices = rawSet.coIndices(handle);
+                return new Polyline(vs, indices);
+            case RawShapeType.Triangle:
+                vs = rawSet.coVertices(handle);
+
+                // #if DIM2
+                return new Triangle(
+                    VectorOps.new(vs[0], vs[1]),
+                    VectorOps.new(vs[2], vs[3]),
+                    VectorOps.new(vs[4], vs[5]),
+                );
+                // #endif
+
+                // #if DIM3
+                return new Triangle(
+                    VectorOps.new(vs[0], vs[1], vs[2]),
+                    VectorOps.new(vs[3], vs[4], vs[5]),
+                    VectorOps.new(vs[6], vs[7], vs[8]),
+                );
+            // #endif
+
+            case RawShapeType.RoundTriangle:
+                vs = rawSet.coVertices(handle);
+                borderRadius = rawSet.coRoundRadius(handle);
+
+                // #if DIM2
+                return new RoundTriangle(
+                    VectorOps.new(vs[0], vs[1]),
+                    VectorOps.new(vs[2], vs[3]),
+                    VectorOps.new(vs[4], vs[5]),
+                    borderRadius,
+                );
+                // #endif
+
+                // #if DIM3
+                return new RoundTriangle(
+                    VectorOps.new(vs[0], vs[1], vs[2]),
+                    VectorOps.new(vs[3], vs[4], vs[5]),
+                    VectorOps.new(vs[6], vs[7], vs[8]),
+                    borderRadius,
+                );
+            // #endif
+
+            case RawShapeType.HalfSpace:
+                normal = VectorOps.fromRaw(rawSet.coHalfspaceNormal(handle));
+                return new HalfSpace(normal);
+
+            case RawShapeType.Voxels:
+                const vox_data = rawSet.coVoxelData(handle);
+                const vox_size = rawSet.coVoxelSize(handle);
+                return new Voxels(vox_data, vox_size);
+
+            case RawShapeType.TriMesh:
+                vs = rawSet.coVertices(handle);
+                indices = rawSet.coIndices(handle);
+                const tri_flags = rawSet.coTriMeshFlags(handle);
+                return new TriMesh(vs, indices, tri_flags);
+
+            case RawShapeType.HeightField:
+                const scale = rawSet.coHeightfieldScale(handle);
+                const heights = rawSet.coHeightfieldHeights(handle);
+
+                // #if DIM2
+                return new Heightfield(heights, scale);
+                // #endif
+
+                // #if DIM3
+                const nrows = rawSet.coHeightfieldNRows(handle);
+                const ncols = rawSet.coHeightfieldNCols(handle);
+                const hf_flags = rawSet.coHeightFieldFlags(handle);
+                return new Heightfield(nrows, ncols, heights, scale, hf_flags);
+            // #endif
+
+            // #if DIM2
+            case RawShapeType.ConvexPolygon:
+                vs = rawSet.coVertices(handle);
+                return new ConvexPolygon(vs, false);
+            case RawShapeType.RoundConvexPolygon:
+                vs = rawSet.coVertices(handle);
+                borderRadius = rawSet.coRoundRadius(handle);
+                return new RoundConvexPolygon(vs, borderRadius, false);
+            // #endif
+
+            // #if DIM3
+            case RawShapeType.ConvexPolyhedron:
+                vs = rawSet.coVertices(handle);
+                indices = rawSet.coIndices(handle);
+                return new ConvexPolyhedron(vs, indices);
+            case RawShapeType.RoundConvexPolyhedron:
+                vs = rawSet.coVertices(handle);
+                indices = rawSet.coIndices(handle);
+                borderRadius = rawSet.coRoundRadius(handle);
+                return new RoundConvexPolyhedron(vs, indices, borderRadius);
+            case RawShapeType.Cylinder:
+                halfHeight = rawSet.coHalfHeight(handle);
+                radius = rawSet.coRadius(handle);
+                return new Cylinder(halfHeight, radius);
+            case RawShapeType.RoundCylinder:
+                halfHeight = rawSet.coHalfHeight(handle);
+                radius = rawSet.coRadius(handle);
+                borderRadius = rawSet.coRoundRadius(handle);
+                return new RoundCylinder(halfHeight, radius, borderRadius);
+            case RawShapeType.Cone:
+                halfHeight = rawSet.coHalfHeight(handle);
+                radius = rawSet.coRadius(handle);
+                return new Cone(halfHeight, radius);
+            case RawShapeType.RoundCone:
+                halfHeight = rawSet.coHalfHeight(handle);
+                radius = rawSet.coRadius(handle);
+                borderRadius = rawSet.coRoundRadius(handle);
+                return new RoundCone(halfHeight, radius, borderRadius);
+            // #endif
+
+            default:
+                throw new Error("unknown shape type: " + rawType);
+        }
+    }
+
+    /**
+     * Computes the time of impact between two moving shapes.
+     * @param shapePos1 - The initial position of this sahpe.
+     * @param shapeRot1 - The rotation of this shape.
+     * @param shapeVel1 - The velocity of this shape.
+     * @param shape2 - The second moving shape.
+     * @param shapePos2 - The initial position of the second shape.
+     * @param shapeRot2 - The rotation of the second shape.
+     * @param shapeVel2 - The velocity of the second shape.
+     * @param targetDistance − If the shape moves closer to this distance from a collider, a hit
+     *                         will be returned.
+     * @param maxToi - The maximum time when the impact can happen.
+     * @param stopAtPenetration - If set to `false`, the linear shape-cast won’t immediately stop if
+     *   the shape is penetrating another shape at its starting point **and** its trajectory is such
+     *   that it’s on a path to exit that penetration state.
+     * @returns If the two moving shapes collider at some point along their trajectories, this returns the
+     *  time at which the two shape collider as well as the contact information during the impact. Returns
+     *  `null`if the two shapes never collide along their paths.
+     */
+    public castShape(
+        shapePos1: Vector,
+        shapeRot1: Rotation,
+        shapeVel1: Vector,
+        shape2: Shape,
+        shapePos2: Vector,
+        shapeRot2: Rotation,
+        shapeVel2: Vector,
+        targetDistance: number,
+        maxToi: number,
+        stopAtPenetration: boolean,
+    ): ShapeCastHit | null {
+        let rawPos1 = VectorOps.intoRaw(shapePos1);
+        let rawRot1 = RotationOps.intoRaw(shapeRot1);
+        let rawVel1 = VectorOps.intoRaw(shapeVel1);
+        let rawPos2 = VectorOps.intoRaw(shapePos2);
+        let rawRot2 = RotationOps.intoRaw(shapeRot2);
+        let rawVel2 = VectorOps.intoRaw(shapeVel2);
+
+        let rawShape1 = this.intoRaw();
+        let rawShape2 = shape2.intoRaw();
+
+        let result = ShapeCastHit.fromRaw(
+            null,
+            rawShape1.castShape(
+                rawPos1,
+                rawRot1,
+                rawVel1,
+                rawShape2,
+                rawPos2,
+                rawRot2,
+                rawVel2,
+                targetDistance,
+                maxToi,
+                stopAtPenetration,
+            ),
+        );
+
+        rawPos1.free();
+        rawRot1.free();
+        rawVel1.free();
+        rawPos2.free();
+        rawRot2.free();
+        rawVel2.free();
+
+        rawShape1.free();
+        rawShape2.free();
+
+        return result;
+    }
+
+    /**
+     * Tests if this shape intersects another shape.
+     *
+     * @param shapePos1 - The position of this shape.
+     * @param shapeRot1 - The rotation of this shape.
+     * @param shape2  - The second shape to test.
+     * @param shapePos2 - The position of the second shape.
+     * @param shapeRot2 - The rotation of the second shape.
+     * @returns `true` if the two shapes intersect, `false` if they don’t.
+     */
+    public intersectsShape(
+        shapePos1: Vector,
+        shapeRot1: Rotation,
+        shape2: Shape,
+        shapePos2: Vector,
+        shapeRot2: Rotation,
+    ): boolean {
+        let rawPos1 = VectorOps.intoRaw(shapePos1);
+        let rawRot1 = RotationOps.intoRaw(shapeRot1);
+        let rawPos2 = VectorOps.intoRaw(shapePos2);
+        let rawRot2 = RotationOps.intoRaw(shapeRot2);
+
+        let rawShape1 = this.intoRaw();
+        let rawShape2 = shape2.intoRaw();
+
+        let result = rawShape1.intersectsShape(
+            rawPos1,
+            rawRot1,
+            rawShape2,
+            rawPos2,
+            rawRot2,
+        );
+
+        rawPos1.free();
+        rawRot1.free();
+        rawPos2.free();
+        rawRot2.free();
+
+        rawShape1.free();
+        rawShape2.free();
+
+        return result;
+    }
+
+    /**
+     * Computes one pair of contact points between two shapes.
+     *
+     * @param shapePos1 - The initial position of this sahpe.
+     * @param shapeRot1 - The rotation of this shape.
+     * @param shape2 - The second shape.
+     * @param shapePos2 - The initial position of the second shape.
+     * @param shapeRot2 - The rotation of the second shape.
+     * @param prediction - The prediction value, if the shapes are separated by a distance greater than this value, test will fail.
+     * @returns `null` if the shapes are separated by a distance greater than prediction, otherwise contact details. The result is given in world-space.
+     */
+    contactShape(
+        shapePos1: Vector,
+        shapeRot1: Rotation,
+        shape2: Shape,
+        shapePos2: Vector,
+        shapeRot2: Rotation,
+        prediction: number,
+    ): ShapeContact | null {
+        let rawPos1 = VectorOps.intoRaw(shapePos1);
+        let rawRot1 = RotationOps.intoRaw(shapeRot1);
+        let rawPos2 = VectorOps.intoRaw(shapePos2);
+        let rawRot2 = RotationOps.intoRaw(shapeRot2);
+
+        let rawShape1 = this.intoRaw();
+        let rawShape2 = shape2.intoRaw();
+
+        let result = ShapeContact.fromRaw(
+            rawShape1.contactShape(
+                rawPos1,
+                rawRot1,
+                rawShape2,
+                rawPos2,
+                rawRot2,
+                prediction,
+            ),
+        );
+
+        rawPos1.free();
+        rawRot1.free();
+        rawPos2.free();
+        rawRot2.free();
+
+        rawShape1.free();
+        rawShape2.free();
+
+        return result;
+    }
+
+    containsPoint(
+        shapePos: Vector,
+        shapeRot: Rotation,
+        point: Vector,
+    ): boolean {
+        let rawPos = VectorOps.intoRaw(shapePos);
+        let rawRot = RotationOps.intoRaw(shapeRot);
+        let rawPoint = VectorOps.intoRaw(point);
+        let rawShape = this.intoRaw();
+
+        let result = rawShape.containsPoint(rawPos, rawRot, rawPoint);
+
+        rawPos.free();
+        rawRot.free();
+        rawPoint.free();
+        rawShape.free();
+
+        return result;
+    }
+
+    projectPoint(
+        shapePos: Vector,
+        shapeRot: Rotation,
+        point: Vector,
+        solid: boolean,
+    ): PointProjection {
+        let rawPos = VectorOps.intoRaw(shapePos);
+        let rawRot = RotationOps.intoRaw(shapeRot);
+        let rawPoint = VectorOps.intoRaw(point);
+        let rawShape = this.intoRaw();
+
+        let result = PointProjection.fromRaw(
+            rawShape.projectPoint(rawPos, rawRot, rawPoint, solid),
+        );
+
+        rawPos.free();
+        rawRot.free();
+        rawPoint.free();
+        rawShape.free();
+
+        return result;
+    }
+
+    intersectsRay(
+        ray: Ray,
+        shapePos: Vector,
+        shapeRot: Rotation,
+        maxToi: number,
+    ): boolean {
+        let rawPos = VectorOps.intoRaw(shapePos);
+        let rawRot = RotationOps.intoRaw(shapeRot);
+        let rawRayOrig = VectorOps.intoRaw(ray.origin);
+        let rawRayDir = VectorOps.intoRaw(ray.dir);
+        let rawShape = this.intoRaw();
+
+        let result = rawShape.intersectsRay(
+            rawPos,
+            rawRot,
+            rawRayOrig,
+            rawRayDir,
+            maxToi,
+        );
+
+        rawPos.free();
+        rawRot.free();
+        rawRayOrig.free();
+        rawRayDir.free();
+        rawShape.free();
+
+        return result;
+    }
+
+    castRay(
+        ray: Ray,
+        shapePos: Vector,
+        shapeRot: Rotation,
+        maxToi: number,
+        solid: boolean,
+    ): number {
+        let rawPos = VectorOps.intoRaw(shapePos);
+        let rawRot = RotationOps.intoRaw(shapeRot);
+        let rawRayOrig = VectorOps.intoRaw(ray.origin);
+        let rawRayDir = VectorOps.intoRaw(ray.dir);
+        let rawShape = this.intoRaw();
+
+        let result = rawShape.castRay(
+            rawPos,
+            rawRot,
+            rawRayOrig,
+            rawRayDir,
+            maxToi,
+            solid,
+        );
+
+        rawPos.free();
+        rawRot.free();
+        rawRayOrig.free();
+        rawRayDir.free();
+        rawShape.free();
+
+        return result;
+    }
+
+    castRayAndGetNormal(
+        ray: Ray,
+        shapePos: Vector,
+        shapeRot: Rotation,
+        maxToi: number,
+        solid: boolean,
+    ): RayIntersection {
+        let rawPos = VectorOps.intoRaw(shapePos);
+        let rawRot = RotationOps.intoRaw(shapeRot);
+        let rawRayOrig = VectorOps.intoRaw(ray.origin);
+        let rawRayDir = VectorOps.intoRaw(ray.dir);
+        let rawShape = this.intoRaw();
+
+        let result = RayIntersection.fromRaw(
+            rawShape.castRayAndGetNormal(
+                rawPos,
+                rawRot,
+                rawRayOrig,
+                rawRayDir,
+                maxToi,
+                solid,
+            ),
+        );
+
+        rawPos.free();
+        rawRot.free();
+        rawRayOrig.free();
+        rawRayDir.free();
+        rawShape.free();
+
+        return result;
+    }
+}
+
+// #if DIM2
+/**
+ * An enumeration representing the type of a shape.
+ */
+export enum ShapeType {
+    Ball = 0,
+    Cuboid = 1,
+    Capsule = 2,
+    Segment = 3,
+    Polyline = 4,
+    Triangle = 5,
+    TriMesh = 6,
+    HeightField = 7,
+    // Compound = 8,
+    ConvexPolygon = 9,
+    RoundCuboid = 10,
+    RoundTriangle = 11,
+    RoundConvexPolygon = 12,
+    HalfSpace = 13,
+    Voxels = 14,
+}
+
+// #endif
+
+// #if DIM3
+
+/**
+ * An enumeration representing the type of a shape.
+ */
+export enum ShapeType {
+    Ball = 0,
+    Cuboid = 1,
+    Capsule = 2,
+    Segment = 3,
+    Polyline = 4,
+    Triangle = 5,
+    TriMesh = 6,
+    HeightField = 7,
+    // Compound = 8,
+    ConvexPolyhedron = 9,
+    Cylinder = 10,
+    Cone = 11,
+    RoundCuboid = 12,
+    RoundTriangle = 13,
+    RoundCylinder = 14,
+    RoundCone = 15,
+    RoundConvexPolyhedron = 16,
+    HalfSpace = 17,
+    Voxels = 18,
+}
+
+// NOTE: this **must** match the bits in the HeightFieldFlags on the rust side.
+/**
+ * Flags controlling the behavior of some operations involving heightfields.
+ */
+export enum HeightFieldFlags {
+    /**
+     * If set, a special treatment will be applied to contact manifold calculation to eliminate
+     * or fix contacts normals that could lead to incorrect bumps in physics simulation (especially
+     * on flat surfaces).
+     *
+     * This is achieved by taking into account adjacent triangle normals when computing contact
+     * points for a given triangle.
+     */
+    FIX_INTERNAL_EDGES = 0b0000_0001,
+}
+
+// #endif
+
+// NOTE: this **must** match the TriMeshFlags on the rust side.
+/**
+ * Flags controlling the behavior of the triangle mesh creation and of some
+ * operations involving triangle meshes.
+ */
+export enum TriMeshFlags {
+    // NOTE: these two flags are not really useful in JS.
+    //
+    // /**
+    //  * If set, the half-edge topology of the trimesh will be computed if possible.
+    //  */
+    // HALF_EDGE_TOPOLOGY = 0b0000_0001,
+    // /** If set, the half-edge topology and connected components of the trimesh will be computed if possible.
+    //  *
+    //  * Because of the way it is currently implemented, connected components can only be computed on
+    //  * a mesh where the half-edge topology computation succeeds. It will no longer be the case in the
+    //  * future once we decouple the computations.
+    //  */
+    // CONNECTED_COMPONENTS = 0b0000_0010,
+    /**
+     * If set, any triangle that results in a failing half-hedge topology computation will be deleted.
+     */
+    DELETE_BAD_TOPOLOGY_TRIANGLES = 0b0000_0100,
+    /**
+     * If set, the trimesh will be assumed to be oriented (with outward normals).
+     *
+     * The pseudo-normals of its vertices and edges will be computed.
+     */
+    ORIENTED = 0b0000_1000,
+    /**
+     * If set, the duplicate vertices of the trimesh will be merged.
+     *
+     * Two vertices with the exact same coordinates will share the same entry on the
+     * vertex buffer and the index buffer is adjusted accordingly.
+     */
+    MERGE_DUPLICATE_VERTICES = 0b0001_0000,
+    /**
+     * If set, the triangles sharing two vertices with identical index values will be removed.
+     *
+     * Because of the way it is currently implemented, this methods implies that duplicate
+     * vertices will be merged. It will no longer be the case in the future once we decouple
+     * the computations.
+     */
+    DELETE_DEGENERATE_TRIANGLES = 0b0010_0000,
+    /**
+     * If set, two triangles sharing three vertices with identical index values (in any order)
+     * will be removed.
+     *
+     * Because of the way it is currently implemented, this methods implies that duplicate
+     * vertices will be merged. It will no longer be the case in the future once we decouple
+     * the computations.
+     */
+    DELETE_DUPLICATE_TRIANGLES = 0b0100_0000,
+    /**
+     * If set, a special treatment will be applied to contact manifold calculation to eliminate
+     * or fix contacts normals that could lead to incorrect bumps in physics simulation
+     * (especially on flat surfaces).
+     *
+     * This is achieved by taking into account adjacent triangle normals when computing contact
+     * points for a given triangle.
+     *
+     * /!\ NOT SUPPORTED IN THE 2D VERSION OF RAPIER.
+     */
+    FIX_INTERNAL_EDGES = 0b1000_0000 | TriMeshFlags.MERGE_DUPLICATE_VERTICES,
+}
+
+/**
+ * A shape that is a sphere in 3D and a circle in 2D.
+ */
+export class Ball extends Shape {
+    readonly type = ShapeType.Ball;
+
+    /**
+     * The balls radius.
+     */
+    radius: number;
+
+    /**
+     * Creates a new ball with the given radius.
+     * @param radius - The balls radius.
+     */
+    constructor(radius: number) {
+        super();
+        this.radius = radius;
+    }
+
+    public intoRaw(): RawShape {
+        return RawShape.ball(this.radius);
+    }
+}
+
+export class HalfSpace extends Shape {
+    readonly type = ShapeType.HalfSpace;
+
+    /**
+     * The outward normal of the half-space.
+     */
+    normal: Vector;
+
+    /**
+     * Creates a new halfspace delimited by an infinite plane.
+     *
+     * @param normal - The outward normal of the plane.
+     */
+    constructor(normal: Vector) {
+        super();
+        this.normal = normal;
+    }
+
+    public intoRaw(): RawShape {
+        let n = VectorOps.intoRaw(this.normal);
+        let result = RawShape.halfspace(n);
+        n.free();
+        return result;
+    }
+}
+
+/**
+ * A shape that is a box in 3D and a rectangle in 2D.
+ */
+export class Cuboid extends Shape {
+    readonly type = ShapeType.Cuboid;
+
+    /**
+     * The half extent of the cuboid along each coordinate axis.
+     */
+    halfExtents: Vector;
+
+    // #if DIM2
+    /**
+     * Creates a new 2D rectangle.
+     * @param hx - The half width of the rectangle.
+     * @param hy - The helf height of the rectangle.
+     */
+    constructor(hx: number, hy: number) {
+        super();
+        this.halfExtents = VectorOps.new(hx, hy);
+    }
+
+    // #endif
+
+    // #if DIM3
+    /**
+     * Creates a new 3D cuboid.
+     * @param hx - The half width of the cuboid.
+     * @param hy - The half height of the cuboid.
+     * @param hz - The half depth of the cuboid.
+     */
+    constructor(hx: number, hy: number, hz: number) {
+        super();
+        this.halfExtents = VectorOps.new(hx, hy, hz);
+    }
+
+    // #endif
+
+    public intoRaw(): RawShape {
+        // #if DIM2
+        return RawShape.cuboid(this.halfExtents.x, this.halfExtents.y);
+        // #endif
+
+        // #if DIM3
+        return RawShape.cuboid(
+            this.halfExtents.x,
+            this.halfExtents.y,
+            this.halfExtents.z,
+        );
+        // #endif
+    }
+}
+
+/**
+ * A shape that is a box in 3D and a rectangle in 2D, with round corners.
+ */
+export class RoundCuboid extends Shape {
+    readonly type = ShapeType.RoundCuboid;
+
+    /**
+     * The half extent of the cuboid along each coordinate axis.
+     */
+    halfExtents: Vector;
+
+    /**
+     * The radius of the cuboid's round border.
+     */
+    borderRadius: number;
+
+    // #if DIM2
+    /**
+     * Creates a new 2D rectangle.
+     * @param hx - The half width of the rectangle.
+     * @param hy - The helf height of the rectangle.
+     * @param borderRadius - The radius of the borders of this cuboid. This will
+     *   effectively increase the half-extents of the cuboid by this radius.
+     */
+    constructor(hx: number, hy: number, borderRadius: number) {
+        super();
+        this.halfExtents = VectorOps.new(hx, hy);
+        this.borderRadius = borderRadius;
+    }
+
+    // #endif
+
+    // #if DIM3
+    /**
+     * Creates a new 3D cuboid.
+     * @param hx - The half width of the cuboid.
+     * @param hy - The half height of the cuboid.
+     * @param hz - The half depth of the cuboid.
+     * @param borderRadius - The radius of the borders of this cuboid. This will
+     *   effectively increase the half-extents of the cuboid by this radius.
+     */
+    constructor(hx: number, hy: number, hz: number, borderRadius: number) {
+        super();
+        this.halfExtents = VectorOps.new(hx, hy, hz);
+        this.borderRadius = borderRadius;
+    }
+
+    // #endif
+
+    public intoRaw(): RawShape {
+        // #if DIM2
+        return RawShape.roundCuboid(
+            this.halfExtents.x,
+            this.halfExtents.y,
+            this.borderRadius,
+        );
+        // #endif
+
+        // #if DIM3
+        return RawShape.roundCuboid(
+            this.halfExtents.x,
+            this.halfExtents.y,
+            this.halfExtents.z,
+            this.borderRadius,
+        );
+        // #endif
+    }
+}
+
+/**
+ * A shape that is a capsule.
+ */
+export class Capsule extends Shape {
+    readonly type = ShapeType.Capsule;
+
+    /**
+     * The radius of the capsule's basis.
+     */
+    radius: number;
+
+    /**
+     * The capsule's half height, along the `y` axis.
+     */
+    halfHeight: number;
+
+    /**
+     * Creates a new capsule with the given radius and half-height.
+     * @param halfHeight - The balls half-height along the `y` axis.
+     * @param radius - The balls radius.
+     */
+    constructor(halfHeight: number, radius: number) {
+        super();
+        this.halfHeight = halfHeight;
+        this.radius = radius;
+    }
+
+    public intoRaw(): RawShape {
+        return RawShape.capsule(this.halfHeight, this.radius);
+    }
+}
+
+/**
+ * A shape that is a segment.
+ */
+export class Segment extends Shape {
+    readonly type = ShapeType.Segment;
+
+    /**
+     * The first point of the segment.
+     */
+    a: Vector;
+
+    /**
+     * The second point of the segment.
+     */
+    b: Vector;
+
+    /**
+     * Creates a new segment shape.
+     * @param a - The first point of the segment.
+     * @param b - The second point of the segment.
+     */
+    constructor(a: Vector, b: Vector) {
+        super();
+        this.a = a;
+        this.b = b;
+    }
+
+    public intoRaw(): RawShape {
+        let ra = VectorOps.intoRaw(this.a);
+        let rb = VectorOps.intoRaw(this.b);
+        let result = RawShape.segment(ra, rb);
+        ra.free();
+        rb.free();
+        return result;
+    }
+}
+
+/**
+ * A shape that is a segment.
+ */
+export class Triangle extends Shape {
+    readonly type = ShapeType.Triangle;
+
+    /**
+     * The first point of the triangle.
+     */
+    a: Vector;
+
+    /**
+     * The second point of the triangle.
+     */
+    b: Vector;
+
+    /**
+     * The second point of the triangle.
+     */
+    c: Vector;
+
+    /**
+     * Creates a new triangle shape.
+     *
+     * @param a - The first point of the triangle.
+     * @param b - The second point of the triangle.
+     * @param c - The third point of the triangle.
+     */
+    constructor(a: Vector, b: Vector, c: Vector) {
+        super();
+        this.a = a;
+        this.b = b;
+        this.c = c;
+    }
+
+    public intoRaw(): RawShape {
+        let ra = VectorOps.intoRaw(this.a);
+        let rb = VectorOps.intoRaw(this.b);
+        let rc = VectorOps.intoRaw(this.c);
+        let result = RawShape.triangle(ra, rb, rc);
+        ra.free();
+        rb.free();
+        rc.free();
+        return result;
+    }
+}
+
+/**
+ * A shape that is a triangle with round borders and a non-zero thickness.
+ */
+export class RoundTriangle extends Shape {
+    readonly type = ShapeType.RoundTriangle;
+
+    /**
+     * The first point of the triangle.
+     */
+    a: Vector;
+
+    /**
+     * The second point of the triangle.
+     */
+    b: Vector;
+
+    /**
+     * The second point of the triangle.
+     */
+    c: Vector;
+
+    /**
+     * The radius of the triangles's rounded edges and vertices.
+     * In 3D, this is also equal to half the thickness of the round triangle.
+     */
+    borderRadius: number;
+
+    /**
+     * Creates a new triangle shape with round corners.
+     *
+     * @param a - The first point of the triangle.
+     * @param b - The second point of the triangle.
+     * @param c - The third point of the triangle.
+     * @param borderRadius - The radius of the borders of this triangle. In 3D,
+     *   this is also equal to half the thickness of the triangle.
+     */
+    constructor(a: Vector, b: Vector, c: Vector, borderRadius: number) {
+        super();
+        this.a = a;
+        this.b = b;
+        this.c = c;
+        this.borderRadius = borderRadius;
+    }
+
+    public intoRaw(): RawShape {
+        let ra = VectorOps.intoRaw(this.a);
+        let rb = VectorOps.intoRaw(this.b);
+        let rc = VectorOps.intoRaw(this.c);
+        let result = RawShape.roundTriangle(ra, rb, rc, this.borderRadius);
+        ra.free();
+        rb.free();
+        rc.free();
+        return result;
+    }
+}
+
+/**
+ * A shape that is a triangle mesh.
+ */
+export class Polyline extends Shape {
+    readonly type = ShapeType.Polyline;
+
+    /**
+     * The vertices of the polyline.
+     */
+    vertices: Float32Array;
+
+    /**
+     * The indices of the segments.
+     */
+    indices: Uint32Array;
+
+    /**
+     * Creates a new polyline shape.
+     *
+     * @param vertices - The coordinates of the polyline's vertices.
+     * @param indices - The indices of the polyline's segments. If this is `null` or not provided, then
+     *    the vertices are assumed to form a line strip.
+     */
+    constructor(vertices: Float32Array, indices?: Uint32Array) {
+        super();
+        this.vertices = vertices;
+        this.indices = indices ?? new Uint32Array(0);
+    }
+
+    public intoRaw(): RawShape {
+        return RawShape.polyline(this.vertices, this.indices);
+    }
+}
+
+/**
+ * A shape made of voxels.
+ */
+export class Voxels extends Shape {
+    readonly type = ShapeType.Voxels;
+
+    /**
+     * The points or grid coordinates used to initialize the voxels.
+     */
+    data: Float32Array | Int32Array;
+
+    /**
+     * The dimensions of each voxel.
+     */
+    voxelSize: Vector;
+
+    /**
+     * Creates a new shape made of voxels.
+     *
+     * @param data - Defines the set of voxels. If this is a `Int32Array` then
+     *               each voxel is defined from its (signed) grid coordinates,
+     *               with 3 (resp 2) contiguous integers per voxel in 3D (resp 2D).
+     *               If this is a `Float32Array`, each voxel will be such that
+     *               they contain at least one point from this array (where each
+     *               point is defined from 3 (resp 2) contiguous numbers per point
+     *               in 3D (resp 2D).
+     * @param voxelSize - The size of each voxel.
+     */
+    constructor(data: Float32Array | Int32Array, voxelSize: Vector) {
+        super();
+        this.data = data;
+        this.voxelSize = voxelSize;
+    }
+
+    public intoRaw(): RawShape {
+        let voxelSize = VectorOps.intoRaw(this.voxelSize);
+
+        let result;
+        if (this.data instanceof Int32Array) {
+            result = RawShape.voxels(voxelSize, this.data);
+        } else {
+            result = RawShape.voxelsFromPoints(voxelSize, this.data);
+        }
+
+        voxelSize.free();
+        return result;
+    }
+}
+
+/**
+ * A shape that is a triangle mesh.
+ */
+export class TriMesh extends Shape {
+    readonly type = ShapeType.TriMesh;
+
+    /**
+     * The vertices of the triangle mesh.
+     */
+    vertices: Float32Array;
+
+    /**
+     * The indices of the triangles.
+     */
+    indices: Uint32Array;
+
+    /**
+     * The triangle mesh flags.
+     */
+    flags: TriMeshFlags;
+
+    /**
+     * Creates a new triangle mesh shape.
+     *
+     * @param vertices - The coordinates of the triangle mesh's vertices.
+     * @param indices - The indices of the triangle mesh's triangles.
+     */
+    constructor(
+        vertices: Float32Array,
+        indices: Uint32Array,
+        flags?: TriMeshFlags,
+    ) {
+        super();
+        this.vertices = vertices;
+        this.indices = indices;
+        this.flags = flags;
+    }
+
+    public intoRaw(): RawShape {
+        return RawShape.trimesh(this.vertices, this.indices, this.flags);
+    }
+}
+
+// #if DIM2
+/**
+ * A shape that is a convex polygon.
+ */
+export class ConvexPolygon extends Shape {
+    readonly type = ShapeType.ConvexPolygon;
+
+    /**
+     * The vertices of the convex polygon.
+     */
+    vertices: Float32Array;
+
+    /**
+     * Do we want to assume the vertices already form a convex hull?
+     */
+    skipConvexHullComputation: boolean;
+
+    /**
+     * Creates a new convex polygon shape.
+     *
+     * @param vertices - The coordinates of the convex polygon's vertices.
+     * @param skipConvexHullComputation - If set to `true`, the input points will
+     *   be assumed to form a convex polyline and no convex-hull computation will
+     *   be done automatically.
+     */
+    constructor(vertices: Float32Array, skipConvexHullComputation: boolean) {
+        super();
+        this.vertices = vertices;
+        this.skipConvexHullComputation = !!skipConvexHullComputation;
+    }
+
+    public intoRaw(): RawShape {
+        if (this.skipConvexHullComputation) {
+            return RawShape.convexPolyline(this.vertices);
+        } else {
+            return RawShape.convexHull(this.vertices);
+        }
+    }
+}
+
+/**
+ * A shape that is a convex polygon.
+ */
+export class RoundConvexPolygon extends Shape {
+    readonly type = ShapeType.RoundConvexPolygon;
+
+    /**
+     * The vertices of the convex polygon.
+     */
+    vertices: Float32Array;
+
+    /**
+     * Do we want to assume the vertices already form a convex hull?
+     */
+    skipConvexHullComputation: boolean;
+
+    /**
+     * The radius of the convex polygon's rounded edges and vertices.
+     */
+    borderRadius: number;
+
+    /**
+     * Creates a new convex polygon shape.
+     *
+     * @param vertices - The coordinates of the convex polygon's vertices.
+     * @param borderRadius - The radius of the borders of this convex polygon.
+     * @param skipConvexHullComputation - If set to `true`, the input points will
+     *   be assumed to form a convex polyline and no convex-hull computation will
+     *   be done automatically.
+     */
+    constructor(
+        vertices: Float32Array,
+        borderRadius: number,
+        skipConvexHullComputation: boolean,
+    ) {
+        super();
+        this.vertices = vertices;
+        this.borderRadius = borderRadius;
+        this.skipConvexHullComputation = !!skipConvexHullComputation;
+    }
+
+    public intoRaw(): RawShape {
+        if (this.skipConvexHullComputation) {
+            return RawShape.roundConvexPolyline(
+                this.vertices,
+                this.borderRadius,
+            );
+        } else {
+            return RawShape.roundConvexHull(this.vertices, this.borderRadius);
+        }
+    }
+}
+
+/**
+ * A shape that is a heightfield.
+ */
+export class Heightfield extends Shape {
+    readonly type = ShapeType.HeightField;
+
+    /**
+     * The heights of the heightfield, along its local `y` axis.
+     */
+    heights: Float32Array;
+
+    /**
+     * The heightfield's length along its local `x` axis.
+     */
+    scale: Vector;
+
+    /**
+     * Creates a new heightfield shape.
+     *
+     * @param heights - The heights of the heightfield, along its local `y` axis.
+     * @param scale - The scale factor applied to the heightfield.
+     */
+    constructor(heights: Float32Array, scale: Vector) {
+        super();
+        this.heights = heights;
+        this.scale = scale;
+    }
+
+    public intoRaw(): RawShape {
+        let rawScale = VectorOps.intoRaw(this.scale);
+        let rawShape = RawShape.heightfield(this.heights, rawScale);
+        rawScale.free();
+        return rawShape;
+    }
+}
+
+// #endif
+
+// #if DIM3
+/**
+ * A shape that is a convex polygon.
+ */
+export class ConvexPolyhedron extends Shape {
+    readonly type = ShapeType.ConvexPolyhedron;
+
+    /**
+     * The vertices of the convex polygon.
+     */
+    vertices: Float32Array;
+
+    /**
+     * The indices of the convex polygon.
+     */
+    indices?: Uint32Array | null;
+
+    /**
+     * Creates a new convex polygon shape.
+     *
+     * @param vertices - The coordinates of the convex polygon's vertices.
+     * @param indices - The index buffer of this convex mesh. If this is `null`
+     *   or `undefined`, the convex-hull of the input vertices will be computed
+     *   automatically. Otherwise, it will be assumed that the mesh you provide
+     *   is already convex.
+     */
+    constructor(vertices: Float32Array, indices?: Uint32Array | null) {
+        super();
+        this.vertices = vertices;
+        this.indices = indices;
+    }
+
+    public intoRaw(): RawShape {
+        if (!!this.indices) {
+            return RawShape.convexMesh(this.vertices, this.indices);
+        } else {
+            return RawShape.convexHull(this.vertices);
+        }
+    }
+}
+
+/**
+ * A shape that is a convex polygon.
+ */
+export class RoundConvexPolyhedron extends Shape {
+    readonly type = ShapeType.RoundConvexPolyhedron;
+
+    /**
+     * The vertices of the convex polygon.
+     */
+    vertices: Float32Array;
+
+    /**
+     * The indices of the convex polygon.
+     */
+    indices?: Uint32Array;
+
+    /**
+     * The radius of the convex polyhedron's rounded edges and vertices.
+     */
+    borderRadius: number;
+
+    /**
+     * Creates a new convex polygon shape.
+     *
+     * @param vertices - The coordinates of the convex polygon's vertices.
+     * @param indices - The index buffer of this convex mesh. If this is `null`
+     *   or `undefined`, the convex-hull of the input vertices will be computed
+     *   automatically. Otherwise, it will be assumed that the mesh you provide
+     *   is already convex.
+     * @param borderRadius - The radius of the borders of this convex polyhedron.
+     */
+    constructor(
+        vertices: Float32Array,
+        indices: Uint32Array | null | undefined,
+        borderRadius: number,
+    ) {
+        super();
+        this.vertices = vertices;
+        this.indices = indices;
+        this.borderRadius = borderRadius;
+    }
+
+    public intoRaw(): RawShape {
+        if (!!this.indices) {
+            return RawShape.roundConvexMesh(
+                this.vertices,
+                this.indices,
+                this.borderRadius,
+            );
+        } else {
+            return RawShape.roundConvexHull(this.vertices, this.borderRadius);
+        }
+    }
+}
+
+/**
+ * A shape that is a heightfield.
+ */
+export class Heightfield extends Shape {
+    readonly type = ShapeType.HeightField;
+
+    /**
+     * The number of rows in the heights matrix.
+     */
+    nrows: number;
+
+    /**
+     * The number of columns in the heights matrix.
+     */
+    ncols: number;
+
+    /**
+     * The heights of the heightfield along its local `y` axis,
+     * provided as a matrix stored in column-major order.
+     */
+    heights: Float32Array;
+
+    /**
+     * The dimensions of the heightfield's local `x,z` plane.
+     */
+    scale: Vector;
+
+    /**
+     * Flags applied to the heightfield.
+     */
+    flags: HeightFieldFlags;
+
+    /**
+     * Creates a new heightfield shape.
+     *
+     * @param nrows − The number of rows in the heights matrix.
+     * @param ncols - The number of columns in the heights matrix.
+     * @param heights - The heights of the heightfield along its local `y` axis,
+     *                  provided as a matrix stored in column-major order.
+     * @param scale - The dimensions of the heightfield's local `x,z` plane.
+     */
+    constructor(
+        nrows: number,
+        ncols: number,
+        heights: Float32Array,
+        scale: Vector,
+        flags?: HeightFieldFlags,
+    ) {
+        super();
+        this.nrows = nrows;
+        this.ncols = ncols;
+        this.heights = heights;
+        this.scale = scale;
+        this.flags = flags;
+    }
+
+    public intoRaw(): RawShape {
+        let rawScale = VectorOps.intoRaw(this.scale);
+        let rawShape = RawShape.heightfield(
+            this.nrows,
+            this.ncols,
+            this.heights,
+            rawScale,
+            this.flags,
+        );
+        rawScale.free();
+        return rawShape;
+    }
+}
+
+/**
+ * A shape that is a 3D cylinder.
+ */
+export class Cylinder extends Shape {
+    readonly type = ShapeType.Cylinder;
+
+    /**
+     * The radius of the cylinder's basis.
+     */
+    radius: number;
+
+    /**
+     * The cylinder's half height, along the `y` axis.
+     */
+    halfHeight: number;
+
+    /**
+     * Creates a new cylinder with the given radius and half-height.
+     * @param halfHeight - The balls half-height along the `y` axis.
+     * @param radius - The balls radius.
+     */
+    constructor(halfHeight: number, radius: number) {
+        super();
+        this.halfHeight = halfHeight;
+        this.radius = radius;
+    }
+
+    public intoRaw(): RawShape {
+        return RawShape.cylinder(this.halfHeight, this.radius);
+    }
+}
+
+/**
+ * A shape that is a 3D cylinder with round corners.
+ */
+export class RoundCylinder extends Shape {
+    readonly type = ShapeType.RoundCylinder;
+
+    /**
+     * The radius of the cylinder's basis.
+     */
+    radius: number;
+
+    /**
+     * The cylinder's half height, along the `y` axis.
+     */
+    halfHeight: number;
+
+    /**
+     * The radius of the cylinder's rounded edges and vertices.
+     */
+    borderRadius: number;
+
+    /**
+     * Creates a new cylinder with the given radius and half-height.
+     * @param halfHeight - The balls half-height along the `y` axis.
+     * @param radius - The balls radius.
+     * @param borderRadius - The radius of the borders of this cylinder.
+     */
+    constructor(halfHeight: number, radius: number, borderRadius: number) {
+        super();
+        this.borderRadius = borderRadius;
+        this.halfHeight = halfHeight;
+        this.radius = radius;
+    }
+
+    public intoRaw(): RawShape {
+        return RawShape.roundCylinder(
+            this.halfHeight,
+            this.radius,
+            this.borderRadius,
+        );
+    }
+}
+
+/**
+ * A shape that is a 3D cone.
+ */
+export class Cone extends Shape {
+    readonly type = ShapeType.Cone;
+
+    /**
+     * The radius of the cone's basis.
+     */
+    radius: number;
+
+    /**
+     * The cone's half height, along the `y` axis.
+     */
+    halfHeight: number;
+
+    /**
+     * Creates a new cone with the given radius and half-height.
+     * @param halfHeight - The balls half-height along the `y` axis.
+     * @param radius - The balls radius.
+     */
+    constructor(halfHeight: number, radius: number) {
+        super();
+        this.halfHeight = halfHeight;
+        this.radius = radius;
+    }
+
+    public intoRaw(): RawShape {
+        return RawShape.cone(this.halfHeight, this.radius);
+    }
+}
+
+/**
+ * A shape that is a 3D cone with round corners.
+ */
+export class RoundCone extends Shape {
+    readonly type = ShapeType.RoundCone;
+
+    /**
+     * The radius of the cone's basis.
+     */
+    radius: number;
+
+    /**
+     * The cone's half height, along the `y` axis.
+     */
+    halfHeight: number;
+
+    /**
+     * The radius of the cylinder's rounded edges and vertices.
+     */
+    borderRadius: number;
+
+    /**
+     * Creates a new cone with the given radius and half-height.
+     * @param halfHeight - The balls half-height along the `y` axis.
+     * @param radius - The balls radius.
+     * @param borderRadius - The radius of the borders of this cone.
+     */
+    constructor(halfHeight: number, radius: number, borderRadius: number) {
+        super();
+        this.halfHeight = halfHeight;
+        this.radius = radius;
+        this.borderRadius = borderRadius;
+    }
+
+    public intoRaw(): RawShape {
+        return RawShape.roundCone(
+            this.halfHeight,
+            this.radius,
+            this.borderRadius,
+        );
+    }
+}
+
+// #endif
diff --git a/thirdparty/rapier.js/src.ts/geometry/toi.ts b/thirdparty/rapier.js/src.ts/geometry/toi.ts
new file mode 100644
index 00000000..ade13f17
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/geometry/toi.ts
@@ -0,0 +1,105 @@
+import {Collider} from "./collider";
+import {Vector, VectorOps} from "../math";
+import {RawShapeCastHit, RawColliderShapeCastHit} from "../raw";
+import {ColliderSet} from "./collider_set";
+
+/**
+ * The intersection between a ray and a collider.
+ */
+export class ShapeCastHit {
+    /**
+     * The time of impact of the two shapes.
+     */
+    time_of_impact: number;
+    /**
+     * The local-space contact point on the first shape, at
+     * the time of impact.
+     */
+    witness1: Vector;
+    /**
+     * The local-space contact point on the second shape, at
+     * the time of impact.
+     */
+    witness2: Vector;
+    /**
+     * The local-space normal on the first shape, at
+     * the time of impact.
+     */
+    normal1: Vector;
+    /**
+     * The local-space normal on the second shape, at
+     * the time of impact.
+     */
+    normal2: Vector;
+
+    constructor(
+        time_of_impact: number,
+        witness1: Vector,
+        witness2: Vector,
+        normal1: Vector,
+        normal2: Vector,
+    ) {
+        this.time_of_impact = time_of_impact;
+        this.witness1 = witness1;
+        this.witness2 = witness2;
+        this.normal1 = normal1;
+        this.normal2 = normal2;
+    }
+
+    public static fromRaw(
+        colliderSet: ColliderSet,
+        raw: RawShapeCastHit,
+    ): ShapeCastHit {
+        if (!raw) return null;
+
+        const result = new ShapeCastHit(
+            raw.time_of_impact(),
+            VectorOps.fromRaw(raw.witness1()),
+            VectorOps.fromRaw(raw.witness2()),
+            VectorOps.fromRaw(raw.normal1()),
+            VectorOps.fromRaw(raw.normal2()),
+        );
+        raw.free();
+        return result;
+    }
+}
+
+/**
+ * The intersection between a ray and a collider.
+ */
+export class ColliderShapeCastHit extends ShapeCastHit {
+    /**
+     * The handle of the collider hit by the ray.
+     */
+    collider: Collider;
+
+    constructor(
+        collider: Collider,
+        time_of_impact: number,
+        witness1: Vector,
+        witness2: Vector,
+        normal1: Vector,
+        normal2: Vector,
+    ) {
+        super(time_of_impact, witness1, witness2, normal1, normal2);
+        this.collider = collider;
+    }
+
+    public static fromRaw(
+        colliderSet: ColliderSet,
+        raw: RawColliderShapeCastHit,
+    ): ColliderShapeCastHit {
+        if (!raw) return null;
+
+        const result = new ColliderShapeCastHit(
+            colliderSet.get(raw.colliderHandle()),
+            raw.time_of_impact(),
+            VectorOps.fromRaw(raw.witness1()),
+            VectorOps.fromRaw(raw.witness2()),
+            VectorOps.fromRaw(raw.normal1()),
+            VectorOps.fromRaw(raw.normal2()),
+        );
+        raw.free();
+        return result;
+    }
+}
diff --git a/thirdparty/rapier.js/src.ts/init.ts b/thirdparty/rapier.js/src.ts/init.ts
new file mode 100644
index 00000000..e9e66aad
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/init.ts
@@ -0,0 +1,2 @@
+// Placeholder for the `init` function used in rapier-compat.
+export {};
diff --git a/thirdparty/rapier.js/src.ts/math.ts b/thirdparty/rapier.js/src.ts/math.ts
new file mode 100644
index 00000000..77669258
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/math.ts
@@ -0,0 +1,263 @@
+import {RawVector, RawRotation} from "./raw";
+// #if DIM3
+import {RawSdpMatrix3} from "./raw";
+// #endif
+
+// #if DIM2
+export interface Vector {
+    x: number;
+    y: number;
+}
+
+/**
+ * A 2D vector.
+ */
+export class Vector2 implements Vector {
+    x: number;
+    y: number;
+
+    constructor(x: number, y: number) {
+        this.x = x;
+        this.y = y;
+    }
+}
+
+export class VectorOps {
+    public static new(x: number, y: number): Vector {
+        return new Vector2(x, y);
+    }
+
+    public static zeros(): Vector {
+        return VectorOps.new(0.0, 0.0);
+    }
+
+    // FIXME: type ram: RawVector?
+    public static fromRaw(raw: RawVector): Vector | null {
+        if (!raw) return null;
+
+        let res = VectorOps.new(raw.x, raw.y);
+        raw.free();
+        return res;
+    }
+
+    public static intoRaw(v: Vector): RawVector {
+        return new RawVector(v.x, v.y);
+    }
+
+    public static copy(out: Vector, input: Vector) {
+        out.x = input.x;
+        out.y = input.y;
+    }
+}
+
+/**
+ * A rotation angle in radians.
+ */
+export type Rotation = number;
+
+export class RotationOps {
+    public static identity(): number {
+        return 0.0;
+    }
+
+    public static fromRaw(raw: RawRotation): Rotation | null {
+        if (!raw) return null;
+
+        let res = raw.angle;
+        raw.free();
+        return res;
+    }
+
+    public static intoRaw(angle: Rotation): RawRotation {
+        return RawRotation.fromAngle(angle);
+    }
+}
+
+// #endif
+
+// #if DIM3
+export interface Vector {
+    x: number;
+    y: number;
+    z: number;
+}
+
+/**
+ * A 3D vector.
+ */
+export class Vector3 implements Vector {
+    x: number;
+    y: number;
+    z: number;
+
+    constructor(x: number, y: number, z: number) {
+        this.x = x;
+        this.y = y;
+        this.z = z;
+    }
+}
+
+export class VectorOps {
+    public static new(x: number, y: number, z: number): Vector {
+        return new Vector3(x, y, z);
+    }
+
+    public static intoRaw(v: Vector): RawVector {
+        return new RawVector(v.x, v.y, v.z);
+    }
+
+    public static zeros(): Vector {
+        return VectorOps.new(0.0, 0.0, 0.0);
+    }
+
+    // FIXME: type ram: RawVector?
+    public static fromRaw(raw: RawVector): Vector | null {
+        if (!raw) return null;
+
+        let res = VectorOps.new(raw.x, raw.y, raw.z);
+        raw.free();
+        return res;
+    }
+
+    public static copy(out: Vector, input: Vector) {
+        out.x = input.x;
+        out.y = input.y;
+        out.z = input.z;
+    }
+}
+
+export interface Rotation {
+    x: number;
+    y: number;
+    z: number;
+    w: number;
+}
+
+/**
+ * A quaternion.
+ */
+export class Quaternion implements Rotation {
+    x: number;
+    y: number;
+    z: number;
+    w: number;
+
+    constructor(x: number, y: number, z: number, w: number) {
+        this.x = x;
+        this.y = y;
+        this.z = z;
+        this.w = w;
+    }
+}
+
+export class RotationOps {
+    public static identity(): Rotation {
+        return new Quaternion(0.0, 0.0, 0.0, 1.0);
+    }
+
+    public static fromRaw(raw: RawRotation): Rotation | null {
+        if (!raw) return null;
+
+        let res = new Quaternion(raw.x, raw.y, raw.z, raw.w);
+        raw.free();
+        return res;
+    }
+
+    public static intoRaw(rot: Rotation): RawRotation {
+        return new RawRotation(rot.x, rot.y, rot.z, rot.w);
+    }
+
+    public static copy(out: Rotation, input: Rotation) {
+        out.x = input.x;
+        out.y = input.y;
+        out.z = input.z;
+        out.w = input.w;
+    }
+}
+
+/**
+ * A 3D symmetric-positive-definite matrix.
+ */
+export class SdpMatrix3 {
+    /**
+     * Row major list of the upper-triangular part of the symmetric matrix.
+     */
+    elements: Float32Array;
+
+    /**
+     * Matrix element at row 1, column 1.
+     */
+    public get m11(): number {
+        return this.elements[0];
+    }
+
+    /**
+     * Matrix element at row 1, column 2.
+     */
+    public get m12(): number {
+        return this.elements[1];
+    }
+
+    /**
+     * Matrix element at row 2, column 1.
+     */
+    public get m21(): number {
+        return this.m12;
+    }
+
+    /**
+     * Matrix element at row 1, column 3.
+     */
+    public get m13(): number {
+        return this.elements[2];
+    }
+
+    /**
+     * Matrix element at row 3, column 1.
+     */
+    public get m31(): number {
+        return this.m13;
+    }
+
+    /**
+     * Matrix element at row 2, column 2.
+     */
+    public get m22(): number {
+        return this.elements[3];
+    }
+
+    /**
+     * Matrix element at row 2, column 3.
+     */
+    public get m23(): number {
+        return this.elements[4];
+    }
+
+    /**
+     * Matrix element at row 3, column 2.
+     */
+    public get m32(): number {
+        return this.m23;
+    }
+
+    /**
+     * Matrix element at row 3, column 3.
+     */
+    public get m33(): number {
+        return this.elements[5];
+    }
+
+    constructor(elements: Float32Array) {
+        this.elements = elements;
+    }
+}
+
+export class SdpMatrix3Ops {
+    public static fromRaw(raw: RawSdpMatrix3): SdpMatrix3 {
+        const sdpMatrix3 = new SdpMatrix3(raw.elements());
+        raw.free();
+        return sdpMatrix3;
+    }
+}
+
+// #endif
diff --git a/thirdparty/rapier.js/src.ts/pipeline/debug_render_pipeline.ts b/thirdparty/rapier.js/src.ts/pipeline/debug_render_pipeline.ts
new file mode 100644
index 00000000..bf0d7057
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/pipeline/debug_render_pipeline.ts
@@ -0,0 +1,85 @@
+import {RawDebugRenderPipeline} from "../raw";
+import {Vector, VectorOps} from "../math";
+import {
+    IntegrationParameters,
+    IslandManager,
+    ImpulseJointSet,
+    MultibodyJointSet,
+    RigidBodySet,
+} from "../dynamics";
+import {BroadPhase, Collider, ColliderSet, NarrowPhase} from "../geometry";
+import {QueryFilterFlags} from "./query_pipeline";
+
+/**
+ * The vertex and color buffers for debug-redering the physics scene.
+ */
+export class DebugRenderBuffers {
+    /**
+     * The lines to render. This is a flat array containing all the lines
+     * to render. Each line is described as two consecutive point. Each
+     * point is described as two (in 2D) or three (in 3D) consecutive
+     * floats. For example, in 2D, the array: `[1, 2, 3, 4, 5, 6, 7, 8]`
+     * describes the two segments `[[1, 2], [3, 4]]` and `[[5, 6], [7, 8]]`.
+     */
+    public vertices: Float32Array;
+    /**
+     * The color buffer. There is one color per vertex, and each color
+     * has four consecutive components (in RGBA format).
+     */
+    public colors: Float32Array;
+
+    constructor(vertices: Float32Array, colors: Float32Array) {
+        this.vertices = vertices;
+        this.colors = colors;
+    }
+}
+
+/**
+ * A pipeline for rendering the physics scene.
+ *
+ * To avoid leaking WASM resources, this MUST be freed manually with `debugRenderPipeline.free()`
+ * once you are done using it (and all the rigid-bodies it created).
+ */
+export class DebugRenderPipeline {
+    raw: RawDebugRenderPipeline;
+    public vertices: Float32Array;
+    public colors: Float32Array;
+
+    /**
+     * Release the WASM memory occupied by this serialization pipeline.
+     */
+    free() {
+        if (!!this.raw) {
+            this.raw.free();
+        }
+        this.raw = undefined;
+        this.vertices = undefined;
+        this.colors = undefined;
+    }
+
+    constructor(raw?: RawDebugRenderPipeline) {
+        this.raw = raw || new RawDebugRenderPipeline();
+    }
+
+    public render(
+        bodies: RigidBodySet,
+        colliders: ColliderSet,
+        impulse_joints: ImpulseJointSet,
+        multibody_joints: MultibodyJointSet,
+        narrow_phase: NarrowPhase,
+        filterFlags?: QueryFilterFlags,
+        filterPredicate?: (collider: Collider) => boolean,
+    ) {
+        this.raw.render(
+            bodies.raw,
+            colliders.raw,
+            impulse_joints.raw,
+            multibody_joints.raw,
+            narrow_phase.raw,
+            filterFlags,
+            colliders.castClosure(filterPredicate),
+        );
+        this.vertices = this.raw.vertices();
+        this.colors = this.raw.colors();
+    }
+}
diff --git a/thirdparty/rapier.js/src.ts/pipeline/event_queue.ts b/thirdparty/rapier.js/src.ts/pipeline/event_queue.ts
new file mode 100644
index 00000000..e39c1582
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/pipeline/event_queue.ts
@@ -0,0 +1,158 @@
+import {RawContactForceEvent, RawEventQueue} from "../raw";
+import {RigidBodyHandle} from "../dynamics";
+import {Collider, ColliderHandle} from "../geometry";
+import {Vector, VectorOps} from "../math";
+
+/**
+ * Flags indicating what events are enabled for colliders.
+ */
+export enum ActiveEvents {
+    NONE = 0,
+    /**
+     * Enable collision events.
+     */
+    COLLISION_EVENTS = 0b0001,
+    /**
+     * Enable contact force events.
+     */
+    CONTACT_FORCE_EVENTS = 0b0010,
+}
+
+/**
+ * Event occurring when the sum of the magnitudes of the
+ * contact forces between two colliders exceed a threshold.
+ *
+ * This object should **not** be stored anywhere. Its properties can only be
+ * read from within the closure given to `EventHandler.drainContactForceEvents`.
+ */
+export class TempContactForceEvent {
+    raw: RawContactForceEvent;
+
+    public free() {
+        if (!!this.raw) {
+            this.raw.free();
+        }
+        this.raw = undefined;
+    }
+
+    /**
+     * The first collider involved in the contact.
+     */
+    public collider1(): ColliderHandle {
+        return this.raw.collider1();
+    }
+
+    /**
+     * The second collider involved in the contact.
+     */
+    public collider2(): ColliderHandle {
+        return this.raw.collider2();
+    }
+
+    /**
+     * The sum of all the forces between the two colliders.
+     */
+    public totalForce(): Vector {
+        return VectorOps.fromRaw(this.raw.total_force());
+    }
+
+    /**
+     * The sum of the magnitudes of each force between the two colliders.
+     *
+     * Note that this is **not** the same as the magnitude of `self.total_force`.
+     * Here we are summing the magnitude of all the forces, instead of taking
+     * the magnitude of their sum.
+     */
+    public totalForceMagnitude(): number {
+        return this.raw.total_force_magnitude();
+    }
+
+    /**
+     * The world-space (unit) direction of the force with strongest magnitude.
+     */
+    public maxForceDirection(): Vector {
+        return VectorOps.fromRaw(this.raw.max_force_direction());
+    }
+
+    /**
+     * The magnitude of the largest force at a contact point of this contact pair.
+     */
+    public maxForceMagnitude(): number {
+        return this.raw.max_force_magnitude();
+    }
+}
+
+/**
+ * A structure responsible for collecting events generated
+ * by the physics engine.
+ *
+ * To avoid leaking WASM resources, this MUST be freed manually with `eventQueue.free()`
+ * once you are done using it.
+ */
+export class EventQueue {
+    raw: RawEventQueue;
+
+    /**
+     * Creates a new event collector.
+     *
+     * @param autoDrain -setting this to `true` is strongly recommended. If true, the collector will
+     * be automatically drained before each `world.step(collector)`. If false, the collector will
+     * keep all events in memory unless it is manually drained/cleared; this may lead to unbounded use of
+     * RAM if no drain is performed.
+     */
+    constructor(autoDrain: boolean, raw?: RawEventQueue) {
+        this.raw = raw || new RawEventQueue(autoDrain);
+    }
+
+    /**
+     * Release the WASM memory occupied by this event-queue.
+     */
+    public free() {
+        if (!!this.raw) {
+            this.raw.free();
+        }
+        this.raw = undefined;
+    }
+
+    /**
+     * Applies the given javascript closure on each collision event of this collector, then clear
+     * the internal collision event buffer.
+     *
+     * @param f - JavaScript closure applied to each collision event. The
+     * closure must take three arguments: two integers representing the handles of the colliders
+     * involved in the collision, and a boolean indicating if the collision started (true) or stopped
+     * (false).
+     */
+    public drainCollisionEvents(
+        f: (
+            handle1: ColliderHandle,
+            handle2: ColliderHandle,
+            started: boolean,
+        ) => void,
+    ) {
+        this.raw.drainCollisionEvents(f);
+    }
+
+    /**
+     * Applies the given javascript closure on each contact force event of this collector, then clear
+     * the internal collision event buffer.
+     *
+     * @param f - JavaScript closure applied to each collision event. The
+     *            closure must take one `TempContactForceEvent` argument.
+     */
+    public drainContactForceEvents(f: (event: TempContactForceEvent) => void) {
+        let event = new TempContactForceEvent();
+        this.raw.drainContactForceEvents((raw: RawContactForceEvent) => {
+            event.raw = raw;
+            f(event);
+            event.free();
+        });
+    }
+
+    /**
+     * Removes all events contained by this collector
+     */
+    public clear() {
+        this.raw.clear();
+    }
+}
diff --git a/thirdparty/rapier.js/src.ts/pipeline/index.ts b/thirdparty/rapier.js/src.ts/pipeline/index.ts
new file mode 100644
index 00000000..092c1a59
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/pipeline/index.ts
@@ -0,0 +1,7 @@
+export * from "./world";
+export * from "./physics_pipeline";
+export * from "./serialization_pipeline";
+export * from "./event_queue";
+export * from "./physics_hooks";
+export * from "./debug_render_pipeline";
+export * from "./query_pipeline";
diff --git a/thirdparty/rapier.js/src.ts/pipeline/physics_hooks.ts b/thirdparty/rapier.js/src.ts/pipeline/physics_hooks.ts
new file mode 100644
index 00000000..20e12ad9
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/pipeline/physics_hooks.ts
@@ -0,0 +1,54 @@
+import {RigidBodyHandle} from "../dynamics";
+import {ColliderHandle} from "../geometry";
+
+export enum ActiveHooks {
+    NONE = 0,
+    FILTER_CONTACT_PAIRS = 0b0001,
+    FILTER_INTERSECTION_PAIRS = 0b0010,
+    // MODIFY_SOLVER_CONTACTS = 0b0100, /* Not supported yet in JS. */
+}
+
+export enum SolverFlags {
+    EMPTY = 0b000,
+    COMPUTE_IMPULSE = 0b001,
+}
+
+export interface PhysicsHooks {
+    /**
+     * Function that determines if contacts computation should happen between two colliders, and how the
+     * constraints solver should behave for these contacts.
+     *
+     * This will only be executed and taken into account if at least one of the involved colliders contains the
+     * `ActiveHooks.FILTER_CONTACT_PAIR` flag in its active hooks.
+     *
+     * @param collider1 − Handle of the first collider involved in the potential contact.
+     * @param collider2 − Handle of the second collider involved in the potential contact.
+     * @param body1 − Handle of the first body involved in the potential contact.
+     * @param body2 − Handle of the second body involved in the potential contact.
+     */
+    filterContactPair(
+        collider1: ColliderHandle,
+        collider2: ColliderHandle,
+        body1: RigidBodyHandle,
+        body2: RigidBodyHandle,
+    ): SolverFlags | null;
+
+    /**
+     * Function that determines if intersection computation should happen between two colliders (where at least
+     * one is a sensor).
+     *
+     * This will only be executed and taken into account if `one of the involved colliders contains the
+     * `ActiveHooks.FILTER_INTERSECTION_PAIR` flag in its active hooks.
+     *
+     * @param collider1 − Handle of the first collider involved in the potential contact.
+     * @param collider2 − Handle of the second collider involved in the potential contact.
+     * @param body1 − Handle of the first body involved in the potential contact.
+     * @param body2 − Handle of the second body involved in the potential contact.
+     */
+    filterIntersectionPair(
+        collider1: ColliderHandle,
+        collider2: ColliderHandle,
+        body1: RigidBodyHandle,
+        body2: RigidBodyHandle,
+    ): boolean;
+}
diff --git a/thirdparty/rapier.js/src.ts/pipeline/physics_pipeline.ts b/thirdparty/rapier.js/src.ts/pipeline/physics_pipeline.ts
new file mode 100644
index 00000000..a3319205
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/pipeline/physics_pipeline.ts
@@ -0,0 +1,85 @@
+import {RawPhysicsPipeline} from "../raw";
+import {Vector, VectorOps} from "../math";
+import {
+    IntegrationParameters,
+    ImpulseJointSet,
+    MultibodyJointSet,
+    RigidBodyHandle,
+    RigidBodySet,
+    CCDSolver,
+    IslandManager,
+} from "../dynamics";
+import {
+    BroadPhase,
+    ColliderHandle,
+    ColliderSet,
+    NarrowPhase,
+} from "../geometry";
+import {EventQueue} from "./event_queue";
+import {PhysicsHooks} from "./physics_hooks";
+
+export class PhysicsPipeline {
+    raw: RawPhysicsPipeline;
+
+    public free() {
+        if (!!this.raw) {
+            this.raw.free();
+        }
+        this.raw = undefined;
+    }
+
+    constructor(raw?: RawPhysicsPipeline) {
+        this.raw = raw || new RawPhysicsPipeline();
+    }
+
+    public step(
+        gravity: Vector,
+        integrationParameters: IntegrationParameters,
+        islands: IslandManager,
+        broadPhase: BroadPhase,
+        narrowPhase: NarrowPhase,
+        bodies: RigidBodySet,
+        colliders: ColliderSet,
+        impulseJoints: ImpulseJointSet,
+        multibodyJoints: MultibodyJointSet,
+        ccdSolver: CCDSolver,
+        eventQueue?: EventQueue,
+        hooks?: PhysicsHooks,
+    ) {
+        let rawG = VectorOps.intoRaw(gravity);
+
+        if (!!eventQueue) {
+            this.raw.stepWithEvents(
+                rawG,
+                integrationParameters.raw,
+                islands.raw,
+                broadPhase.raw,
+                narrowPhase.raw,
+                bodies.raw,
+                colliders.raw,
+                impulseJoints.raw,
+                multibodyJoints.raw,
+                ccdSolver.raw,
+                eventQueue.raw,
+                hooks,
+                !!hooks ? hooks.filterContactPair : null,
+                !!hooks ? hooks.filterIntersectionPair : null,
+            );
+        } else {
+            this.raw.step(
+                rawG,
+                integrationParameters.raw,
+                islands.raw,
+                broadPhase.raw,
+                narrowPhase.raw,
+                bodies.raw,
+                colliders.raw,
+                impulseJoints.raw,
+                multibodyJoints.raw,
+                ccdSolver.raw,
+            );
+        }
+
+        rawG.free();
+    }
+}
diff --git a/thirdparty/rapier.js/src.ts/pipeline/query_pipeline.ts b/thirdparty/rapier.js/src.ts/pipeline/query_pipeline.ts
new file mode 100644
index 00000000..5610ff31
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/pipeline/query_pipeline.ts
@@ -0,0 +1,57 @@
+import {RawRayColliderIntersection} from "../raw";
+import {
+    ColliderHandle,
+    ColliderSet,
+    InteractionGroups,
+    PointColliderProjection,
+    Ray,
+    RayColliderIntersection,
+    RayColliderHit,
+    Shape,
+    ColliderShapeCastHit,
+} from "../geometry";
+import {IslandManager, RigidBodyHandle, RigidBodySet} from "../dynamics";
+import {Rotation, RotationOps, Vector, VectorOps} from "../math";
+
+// NOTE: must match the bits in the QueryFilterFlags on the Rust side.
+/**
+ * Flags for excluding whole sets of colliders from a scene query.
+ */
+export enum QueryFilterFlags {
+    /**
+     * Exclude from the query any collider attached to a fixed rigid-body and colliders with no rigid-body attached.
+     */
+    EXCLUDE_FIXED = 0b0000_0001,
+    /**
+     * Exclude from the query any collider attached to a dynamic rigid-body.
+     */
+    EXCLUDE_KINEMATIC = 0b0000_0010,
+    /**
+     * Exclude from the query any collider attached to a kinematic rigid-body.
+     */
+    EXCLUDE_DYNAMIC = 0b0000_0100,
+    /**
+     * Exclude from the query any collider that is a sensor.
+     */
+    EXCLUDE_SENSORS = 0b0000_1000,
+    /**
+     * Exclude from the query any collider that is not a sensor.
+     */
+    EXCLUDE_SOLIDS = 0b0001_0000,
+    /**
+     * Excludes all colliders not attached to a dynamic rigid-body.
+     */
+    ONLY_DYNAMIC = QueryFilterFlags.EXCLUDE_FIXED |
+        QueryFilterFlags.EXCLUDE_KINEMATIC,
+    /**
+     * Excludes all colliders not attached to a kinematic rigid-body.
+     */
+    ONLY_KINEMATIC = QueryFilterFlags.EXCLUDE_DYNAMIC |
+        QueryFilterFlags.EXCLUDE_FIXED,
+    /**
+     * Exclude all colliders attached to a non-fixed rigid-body
+     * (this will not exclude colliders not attached to any rigid-body).
+     */
+    ONLY_FIXED = QueryFilterFlags.EXCLUDE_DYNAMIC |
+        QueryFilterFlags.EXCLUDE_KINEMATIC,
+}
diff --git a/thirdparty/rapier.js/src.ts/pipeline/serialization_pipeline.ts b/thirdparty/rapier.js/src.ts/pipeline/serialization_pipeline.ts
new file mode 100644
index 00000000..87fde398
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/pipeline/serialization_pipeline.ts
@@ -0,0 +1,84 @@
+import {RawSerializationPipeline} from "../raw";
+import {Vector, VectorOps} from "../math";
+import {
+    IntegrationParameters,
+    IslandManager,
+    ImpulseJointSet,
+    MultibodyJointSet,
+    RigidBodySet,
+} from "../dynamics";
+import {BroadPhase, ColliderSet, NarrowPhase} from "../geometry";
+import {World} from "./world";
+
+/**
+ * A pipeline for serializing the physics scene.
+ *
+ * To avoid leaking WASM resources, this MUST be freed manually with `serializationPipeline.free()`
+ * once you are done using it (and all the rigid-bodies it created).
+ */
+export class SerializationPipeline {
+    raw: RawSerializationPipeline;
+
+    /**
+     * Release the WASM memory occupied by this serialization pipeline.
+     */
+    free() {
+        if (!!this.raw) {
+            this.raw.free();
+        }
+        this.raw = undefined;
+    }
+
+    constructor(raw?: RawSerializationPipeline) {
+        this.raw = raw || new RawSerializationPipeline();
+    }
+
+    /**
+     * Serialize a complete physics state into a single byte array.
+     * @param gravity - The current gravity affecting the simulation.
+     * @param integrationParameters - The integration parameters of the simulation.
+     * @param broadPhase - The broad-phase of the simulation.
+     * @param narrowPhase - The narrow-phase of the simulation.
+     * @param bodies - The rigid-bodies taking part into the simulation.
+     * @param colliders - The colliders taking part into the simulation.
+     * @param impulseJoints - The impulse joints taking part into the simulation.
+     * @param multibodyJoints - The multibody joints taking part into the simulation.
+     */
+    public serializeAll(
+        gravity: Vector,
+        integrationParameters: IntegrationParameters,
+        islands: IslandManager,
+        broadPhase: BroadPhase,
+        narrowPhase: NarrowPhase,
+        bodies: RigidBodySet,
+        colliders: ColliderSet,
+        impulseJoints: ImpulseJointSet,
+        multibodyJoints: MultibodyJointSet,
+    ): Uint8Array {
+        let rawGra = VectorOps.intoRaw(gravity);
+
+        const res = this.raw.serializeAll(
+            rawGra,
+            integrationParameters.raw,
+            islands.raw,
+            broadPhase.raw,
+            narrowPhase.raw,
+            bodies.raw,
+            colliders.raw,
+            impulseJoints.raw,
+            multibodyJoints.raw,
+        );
+        rawGra.free();
+
+        return res;
+    }
+
+    /**
+     * Deserialize the complete physics state from a single byte array.
+     *
+     * @param data - The byte array to deserialize.
+     */
+    public deserializeAll(data: Uint8Array): World {
+        return World.fromRaw(this.raw.deserializeAll(data));
+    }
+}
diff --git a/thirdparty/rapier.js/src.ts/pipeline/world.ts b/thirdparty/rapier.js/src.ts/pipeline/world.ts
new file mode 100644
index 00000000..9ee85616
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/pipeline/world.ts
@@ -0,0 +1,1312 @@
+import {
+    RawBroadPhase,
+    RawCCDSolver,
+    RawColliderSet,
+    RawDeserializedWorld,
+    RawIntegrationParameters,
+    RawIslandManager,
+    RawImpulseJointSet,
+    RawMultibodyJointSet,
+    RawNarrowPhase,
+    RawPhysicsPipeline,
+    RawRigidBodySet,
+    RawSerializationPipeline,
+    RawDebugRenderPipeline,
+} from "../raw";
+
+import {
+    BroadPhase,
+    Collider,
+    ColliderDesc,
+    ColliderHandle,
+    ColliderSet,
+    InteractionGroups,
+    NarrowPhase,
+    PointColliderProjection,
+    Ray,
+    RayColliderIntersection,
+    RayColliderHit,
+    Shape,
+    ColliderShapeCastHit,
+    TempContactManifold,
+} from "../geometry";
+import {
+    CCDSolver,
+    IntegrationParameters,
+    IslandManager,
+    ImpulseJoint,
+    ImpulseJointHandle,
+    MultibodyJoint,
+    MultibodyJointHandle,
+    JointData,
+    ImpulseJointSet,
+    MultibodyJointSet,
+    RigidBody,
+    RigidBodyDesc,
+    RigidBodyHandle,
+    RigidBodySet,
+} from "../dynamics";
+import {Rotation, Vector, VectorOps} from "../math";
+import {PhysicsPipeline} from "./physics_pipeline";
+import {QueryFilterFlags} from "./query_pipeline";
+import {SerializationPipeline} from "./serialization_pipeline";
+import {EventQueue} from "./event_queue";
+import {PhysicsHooks} from "./physics_hooks";
+import {DebugRenderBuffers, DebugRenderPipeline} from "./debug_render_pipeline";
+import {
+    KinematicCharacterController,
+    PidAxesMask,
+    PidController,
+} from "../control";
+import {Coarena} from "../coarena";
+
+// #if DIM3
+import {DynamicRayCastVehicleController} from "../control";
+
+// #endif
+
+/**
+ * The physics world.
+ *
+ * This contains all the data-structures necessary for creating and simulating
+ * bodies with contacts, joints, and external forces.
+ */
+export class World {
+    public gravity: Vector;
+    integrationParameters: IntegrationParameters;
+    islands: IslandManager;
+    broadPhase: BroadPhase;
+    narrowPhase: NarrowPhase;
+    bodies: RigidBodySet;
+    colliders: ColliderSet;
+    impulseJoints: ImpulseJointSet;
+    multibodyJoints: MultibodyJointSet;
+    ccdSolver: CCDSolver;
+    physicsPipeline: PhysicsPipeline;
+    serializationPipeline: SerializationPipeline;
+    debugRenderPipeline: DebugRenderPipeline;
+    characterControllers: Set<KinematicCharacterController>;
+    pidControllers: Set<PidController>;
+
+    // #if DIM3
+    vehicleControllers: Set<DynamicRayCastVehicleController>;
+
+    // #endif
+
+    /**
+     * Release the WASM memory occupied by this physics world.
+     *
+     * All the fields of this physics world will be freed as well,
+     * so there is no need to call their `.free()` methods individually.
+     */
+    public free() {
+        this.integrationParameters.free();
+        this.islands.free();
+        this.broadPhase.free();
+        this.narrowPhase.free();
+        this.bodies.free();
+        this.colliders.free();
+        this.impulseJoints.free();
+        this.multibodyJoints.free();
+        this.ccdSolver.free();
+        this.physicsPipeline.free();
+        this.serializationPipeline.free();
+        this.debugRenderPipeline.free();
+        this.characterControllers.forEach((controller) => controller.free());
+        this.pidControllers.forEach((controller) => controller.free());
+
+        // #if DIM3
+        this.vehicleControllers.forEach((controller) => controller.free());
+        // #endif
+
+        this.integrationParameters = undefined;
+        this.islands = undefined;
+        this.broadPhase = undefined;
+        this.narrowPhase = undefined;
+        this.bodies = undefined;
+        this.colliders = undefined;
+        this.ccdSolver = undefined;
+        this.impulseJoints = undefined;
+        this.multibodyJoints = undefined;
+        this.physicsPipeline = undefined;
+        this.serializationPipeline = undefined;
+        this.debugRenderPipeline = undefined;
+        this.characterControllers = undefined;
+        this.pidControllers = undefined;
+
+        // #if DIM3
+        this.vehicleControllers = undefined;
+        // #endif
+    }
+
+    constructor(
+        gravity: Vector,
+        rawIntegrationParameters?: RawIntegrationParameters,
+        rawIslands?: RawIslandManager,
+        rawBroadPhase?: RawBroadPhase,
+        rawNarrowPhase?: RawNarrowPhase,
+        rawBodies?: RawRigidBodySet,
+        rawColliders?: RawColliderSet,
+        rawImpulseJoints?: RawImpulseJointSet,
+        rawMultibodyJoints?: RawMultibodyJointSet,
+        rawCCDSolver?: RawCCDSolver,
+        rawPhysicsPipeline?: RawPhysicsPipeline,
+        rawSerializationPipeline?: RawSerializationPipeline,
+        rawDebugRenderPipeline?: RawDebugRenderPipeline,
+    ) {
+        this.gravity = gravity;
+        this.integrationParameters = new IntegrationParameters(
+            rawIntegrationParameters,
+        );
+        this.islands = new IslandManager(rawIslands);
+        this.broadPhase = new BroadPhase(rawBroadPhase);
+        this.narrowPhase = new NarrowPhase(rawNarrowPhase);
+        this.bodies = new RigidBodySet(rawBodies);
+        this.colliders = new ColliderSet(rawColliders);
+        this.impulseJoints = new ImpulseJointSet(rawImpulseJoints);
+        this.multibodyJoints = new MultibodyJointSet(rawMultibodyJoints);
+        this.ccdSolver = new CCDSolver(rawCCDSolver);
+        this.physicsPipeline = new PhysicsPipeline(rawPhysicsPipeline);
+        this.serializationPipeline = new SerializationPipeline(
+            rawSerializationPipeline,
+        );
+        this.debugRenderPipeline = new DebugRenderPipeline(
+            rawDebugRenderPipeline,
+        );
+        this.characterControllers = new Set<KinematicCharacterController>();
+        this.pidControllers = new Set<PidController>();
+
+        // #if DIM3
+        this.vehicleControllers = new Set<DynamicRayCastVehicleController>();
+        // #endif
+
+        this.impulseJoints.finalizeDeserialization(this.bodies);
+        this.bodies.finalizeDeserialization(this.colliders);
+        this.colliders.finalizeDeserialization(this.bodies);
+    }
+
+    public static fromRaw(raw: RawDeserializedWorld): World {
+        if (!raw) return null;
+
+        return new World(
+            VectorOps.fromRaw(raw.takeGravity()),
+            raw.takeIntegrationParameters(),
+            raw.takeIslandManager(),
+            raw.takeBroadPhase(),
+            raw.takeNarrowPhase(),
+            raw.takeBodies(),
+            raw.takeColliders(),
+            raw.takeImpulseJoints(),
+            raw.takeMultibodyJoints(),
+        );
+    }
+
+    /**
+     * Takes a snapshot of this world.
+     *
+     * Use `World.restoreSnapshot` to create a new physics world with a state identical to
+     * the state when `.takeSnapshot()` is called.
+     */
+    public takeSnapshot(): Uint8Array {
+        return this.serializationPipeline.serializeAll(
+            this.gravity,
+            this.integrationParameters,
+            this.islands,
+            this.broadPhase,
+            this.narrowPhase,
+            this.bodies,
+            this.colliders,
+            this.impulseJoints,
+            this.multibodyJoints,
+        );
+    }
+
+    /**
+     * Creates a new physics world from a snapshot.
+     *
+     * This new physics world will be an identical copy of the snapshoted physics world.
+     */
+    public static restoreSnapshot(data: Uint8Array): World {
+        let deser = new SerializationPipeline();
+        return deser.deserializeAll(data);
+    }
+
+    /**
+     * Computes all the lines (and their colors) needed to render the scene.
+     *
+     * @param filterFlags - Flags for excluding whole subsets of colliders from rendering.
+     * @param filterPredicate - Any collider for which this closure returns `false` will be excluded from the
+     *                          debug rendering.
+     */
+    public debugRender(
+        filterFlags?: QueryFilterFlags,
+        filterPredicate?: (collider: Collider) => boolean,
+    ): DebugRenderBuffers {
+        this.debugRenderPipeline.render(
+            this.bodies,
+            this.colliders,
+            this.impulseJoints,
+            this.multibodyJoints,
+            this.narrowPhase,
+            filterFlags,
+            filterPredicate,
+        );
+        return new DebugRenderBuffers(
+            this.debugRenderPipeline.vertices,
+            this.debugRenderPipeline.colors,
+        );
+    }
+
+    /**
+     * Advance the simulation by one time step.
+     *
+     * All events generated by the physics engine are ignored.
+     *
+     * @param EventQueue - (optional) structure responsible for collecting
+     *   events generated by the physics engine.
+     */
+    public step(eventQueue?: EventQueue, hooks?: PhysicsHooks) {
+        this.physicsPipeline.step(
+            this.gravity,
+            this.integrationParameters,
+            this.islands,
+            this.broadPhase,
+            this.narrowPhase,
+            this.bodies,
+            this.colliders,
+            this.impulseJoints,
+            this.multibodyJoints,
+            this.ccdSolver,
+            eventQueue,
+            hooks,
+        );
+    }
+
+    /**
+     * Update colliders positions after rigid-bodies moved.
+     *
+     * When a rigid-body moves, the positions of the colliders attached to it need to be updated. This update is
+     * generally automatically done at the beginning and the end of each simulation step with World.step.
+     * If the positions need to be updated without running a simulation step this method can be called manually.
+     */
+    public propagateModifiedBodyPositionsToColliders() {
+        this.bodies.raw.propagateModifiedBodyPositionsToColliders(
+            this.colliders.raw,
+        );
+    }
+
+    // TODO: This needs to trigger a broad-phase update but without emitting collision events?
+    // /**
+    //  * Ensure subsequent scene queries take into account the collider positions set before this method is called.
+    //  *
+    //  * This does not step the physics simulation forward.
+    //  */
+    // public updateSceneQueries() {
+    //     this.propagateModifiedBodyPositionsToColliders();
+    //     this.queryPipeline.update(this.colliders);
+    // }
+
+    /**
+     * The current simulation timestep.
+     */
+    get timestep(): number {
+        return this.integrationParameters.dt;
+    }
+
+    /**
+     * Sets the new simulation timestep.
+     *
+     * The simulation timestep governs by how much the physics state of the world will
+     * be integrated. A simulation timestep should:
+     * - be as small as possible. Typical values evolve around 0.016 (assuming the chosen unit is milliseconds,
+     * corresponds to the time between two frames of a game running at 60FPS).
+     * - not vary too much during the course of the simulation. A timestep with large variations may
+     * cause instabilities in the simulation.
+     *
+     * @param dt - The timestep length, in seconds.
+     */
+    set timestep(dt: number) {
+        this.integrationParameters.dt = dt;
+    }
+
+    /**
+     * The approximate size of most dynamic objects in the scene.
+     *
+     * See the documentation of the `World.lengthUnit` setter for further details.
+     */
+    get lengthUnit(): number {
+        return this.integrationParameters.lengthUnit;
+    }
+
+    /**
+     * The approximate size of most dynamic objects in the scene.
+     *
+     * This value is used internally to estimate some length-based tolerance. In particular, the
+     * values `IntegrationParameters.allowedLinearError`,
+     * `IntegrationParameters.maxPenetrationCorrection`,
+     * `IntegrationParameters.predictionDistance`, `RigidBodyActivation.linearThreshold`
+     * are scaled by this value implicitly.
+     *
+     * This value can be understood as the number of units-per-meter in your physical world compared
+     * to a human-sized world in meter. For example, in a 2d game, if your typical object size is 100
+     * pixels, set the `[`Self::length_unit`]` parameter to 100.0. The physics engine will interpret
+     * it as if 100 pixels is equivalent to 1 meter in its various internal threshold.
+     * (default `1.0`).
+     */
+    set lengthUnit(unitsPerMeter: number) {
+        this.integrationParameters.lengthUnit = unitsPerMeter;
+    }
+
+    /**
+     * The number of solver iterations run by the constraints solver for calculating forces (default: `4`).
+     */
+    get numSolverIterations(): number {
+        return this.integrationParameters.numSolverIterations;
+    }
+
+    /**
+     * Sets the number of solver iterations run by the constraints solver for calculating forces (default: `4`).
+     *
+     * 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.
+     *
+     * @param niter - The new number of solver iterations.
+     */
+    set numSolverIterations(niter: number) {
+        this.integrationParameters.numSolverIterations = niter;
+    }
+
+    /**
+     * Number of internal Project Gauss Seidel (PGS) iterations run at each solver iteration (default: `1`).
+     */
+    get numInternalPgsIterations(): number {
+        return this.integrationParameters.numInternalPgsIterations;
+    }
+
+    /**
+     * Sets the Number of internal Project Gauss Seidel (PGS) iterations run at each solver iteration (default: `1`).
+     *
+     * Increasing this parameter will improve stability of the simulation. It will have a lesser effect than
+     * increasing `numSolverIterations` but is also less computationally expensive.
+     *
+     * @param niter - The new number of internal PGS iterations.
+     */
+    set numInternalPgsIterations(niter: number) {
+        this.integrationParameters.numInternalPgsIterations = niter;
+    }
+
+    /**
+     * The number of substeps continuous collision-detection can run (default: `1`).
+     */
+    get maxCcdSubsteps(): number {
+        return this.integrationParameters.maxCcdSubsteps;
+    }
+
+    /**
+     * Sets the number of substeps continuous collision-detection can run (default: `1`).
+     *
+     * CCD operates using a "motion clamping" mechanism where all fast-moving object trajectories will
+     * be truncated to their first impact on their path. The number of CCD substeps beyond 1 indicate how
+     * many times that trajectory will be updated and continued after a hit. This can results in smoother
+     * paths, but at a significant computational cost.
+     *
+     * @param niter - The new maximum number of CCD substeps. Setting to `0` disables CCD entirely.
+     */
+    set maxCcdSubsteps(substeps: number) {
+        this.integrationParameters.maxCcdSubsteps = substeps;
+    }
+
+    /**
+     * Creates a new rigid-body from the given rigid-body descriptor.
+     *
+     * @param body - The description of the rigid-body to create.
+     */
+    public createRigidBody(body: RigidBodyDesc): RigidBody {
+        return this.bodies.createRigidBody(this.colliders, body);
+    }
+
+    /**
+     * Creates a new character controller.
+     *
+     * @param offset - The artificial gap added between the character’s chape and its environment.
+     */
+    public createCharacterController(
+        offset: number,
+    ): KinematicCharacterController {
+        let controller = new KinematicCharacterController(
+            offset,
+            this.integrationParameters,
+            this.broadPhase,
+            this.narrowPhase,
+            this.bodies,
+            this.colliders,
+        );
+        this.characterControllers.add(controller);
+        return controller;
+    }
+
+    /**
+     * Removes a character controller from this world.
+     *
+     * @param controller - The character controller to remove.
+     */
+    public removeCharacterController(controller: KinematicCharacterController) {
+        this.characterControllers.delete(controller);
+        controller.free();
+    }
+
+    /**
+     * Creates a new PID (Proportional-Integral-Derivative) controller.
+     *
+     * @param kp - The Proportional gain applied to the instantaneous linear position errors.
+     *             This is usually set to a multiple of the inverse of simulation step time
+     *             (e.g. `60` if the delta-time is `1.0 / 60.0`).
+     * @param ki - The linear gain applied to the Integral part of the PID controller.
+     * @param kd - The Derivative gain applied to the instantaneous linear velocity errors.
+     *             This is usually set to a value in `[0.0, 1.0]` where `0.0` implies no damping
+     *             (no correction of velocity errors) and `1.0` implies complete damping (velocity errors
+     *             are corrected in a single simulation step).
+     * @param axes - The axes affected by this controller.
+     *               Only coordinate axes with a bit flags set to `true` will be taken into
+     *               account when calculating the errors and corrections.
+     */
+    public createPidController(
+        kp: number,
+        ki: number,
+        kd: number,
+        axes: PidAxesMask,
+    ): PidController {
+        let controller = new PidController(
+            this.integrationParameters,
+            this.bodies,
+            kp,
+            ki,
+            kd,
+            axes,
+        );
+        this.pidControllers.add(controller);
+        return controller;
+    }
+
+    /**
+     * Removes a PID controller from this world.
+     *
+     * @param controller - The PID controller to remove.
+     */
+    public removePidController(controller: PidController) {
+        this.pidControllers.delete(controller);
+        controller.free();
+    }
+
+    // #if DIM3
+    /**
+     * Creates a new vehicle controller.
+     *
+     * @param chassis - The rigid-body used as the chassis of the vehicle controller. When the vehicle
+     *                  controller is updated, it will change directly the rigid-body’s velocity. This
+     *                  rigid-body must be a dynamic or kinematic-velocity-based rigid-body.
+     */
+    public createVehicleController(
+        chassis: RigidBody,
+    ): DynamicRayCastVehicleController {
+        let controller = new DynamicRayCastVehicleController(
+            chassis,
+            this.broadPhase,
+            this.narrowPhase,
+            this.bodies,
+            this.colliders,
+        );
+        this.vehicleControllers.add(controller);
+        return controller;
+    }
+
+    /**
+     * Removes a vehicle controller from this world.
+     *
+     * @param controller - The vehicle controller to remove.
+     */
+    public removeVehicleController(
+        controller: DynamicRayCastVehicleController,
+    ) {
+        this.vehicleControllers.delete(controller);
+        controller.free();
+    }
+
+    // #endif
+
+    /**
+     * Creates a new collider.
+     *
+     * @param desc - The description of the collider.
+     * @param parent - The rigid-body this collider is attached to.
+     */
+    public createCollider(desc: ColliderDesc, parent?: RigidBody): Collider {
+        let parentHandle = parent ? parent.handle : undefined;
+        return this.colliders.createCollider(this.bodies, desc, parentHandle);
+    }
+
+    /**
+     * Creates a new impulse joint from the given joint descriptor.
+     *
+     * @param params - The description of the joint to create.
+     * @param parent1 - The first rigid-body attached to this joint.
+     * @param parent2 - The second rigid-body attached to this joint.
+     * @param wakeUp - Should the attached rigid-bodies be awakened?
+     */
+    public createImpulseJoint(
+        params: JointData,
+        parent1: RigidBody,
+        parent2: RigidBody,
+        wakeUp: boolean,
+    ): ImpulseJoint {
+        return this.impulseJoints.createJoint(
+            this.bodies,
+            params,
+            parent1.handle,
+            parent2.handle,
+            wakeUp,
+        );
+    }
+
+    /**
+     * Creates a new multibody joint from the given joint descriptor.
+     *
+     * @param params - The description of the joint to create.
+     * @param parent1 - The first rigid-body attached to this joint.
+     * @param parent2 - The second rigid-body attached to this joint.
+     * @param wakeUp - Should the attached rigid-bodies be awakened?
+     */
+    public createMultibodyJoint(
+        params: JointData,
+        parent1: RigidBody,
+        parent2: RigidBody,
+        wakeUp: boolean,
+    ): MultibodyJoint {
+        return this.multibodyJoints.createJoint(
+            params,
+            parent1.handle,
+            parent2.handle,
+            wakeUp,
+        );
+    }
+
+    /**
+     * Retrieves a rigid-body from its handle.
+     *
+     * @param handle - The integer handle of the rigid-body to retrieve.
+     */
+    public getRigidBody(handle: RigidBodyHandle): RigidBody {
+        return this.bodies.get(handle);
+    }
+
+    /**
+     * Retrieves a collider from its handle.
+     *
+     * @param handle - The integer handle of the collider to retrieve.
+     */
+    public getCollider(handle: ColliderHandle): Collider {
+        return this.colliders.get(handle);
+    }
+
+    /**
+     * Retrieves an impulse joint from its handle.
+     *
+     * @param handle - The integer handle of the impulse joint to retrieve.
+     */
+    public getImpulseJoint(handle: ImpulseJointHandle): ImpulseJoint {
+        return this.impulseJoints.get(handle);
+    }
+
+    /**
+     * Retrieves an multibody joint from its handle.
+     *
+     * @param handle - The integer handle of the multibody joint to retrieve.
+     */
+    public getMultibodyJoint(handle: MultibodyJointHandle): MultibodyJoint {
+        return this.multibodyJoints.get(handle);
+    }
+
+    /**
+     * Removes the given rigid-body from this physics world.
+     *
+     * This will remove this rigid-body as well as all its attached colliders and joints.
+     * Every other bodies touching or attached by joints to this rigid-body will be woken-up.
+     *
+     * @param body - The rigid-body to remove.
+     */
+    public removeRigidBody(body: RigidBody) {
+        if (this.bodies) {
+            this.bodies.remove(
+                body.handle,
+                this.islands,
+                this.colliders,
+                this.impulseJoints,
+                this.multibodyJoints,
+            );
+        }
+    }
+
+    /**
+     * Removes the given collider from this physics world.
+     *
+     * @param collider - The collider to remove.
+     * @param wakeUp - If set to `true`, the rigid-body this collider is attached to will be awaken.
+     */
+    public removeCollider(collider: Collider, wakeUp: boolean) {
+        if (this.colliders) {
+            this.colliders.remove(
+                collider.handle,
+                this.islands,
+                this.bodies,
+                wakeUp,
+            );
+        }
+    }
+
+    /**
+     * Removes the given impulse joint from this physics world.
+     *
+     * @param joint - The impulse joint to remove.
+     * @param wakeUp - If set to `true`, the rigid-bodies attached by this joint will be awaken.
+     */
+    public removeImpulseJoint(joint: ImpulseJoint, wakeUp: boolean) {
+        if (this.impulseJoints) {
+            this.impulseJoints.remove(joint.handle, wakeUp);
+        }
+    }
+
+    /**
+     * Removes the given multibody joint from this physics world.
+     *
+     * @param joint - The multibody joint to remove.
+     * @param wakeUp - If set to `true`, the rigid-bodies attached by this joint will be awaken.
+     */
+    public removeMultibodyJoint(joint: MultibodyJoint, wakeUp: boolean) {
+        if (this.impulseJoints) {
+            this.multibodyJoints.remove(joint.handle, wakeUp);
+        }
+    }
+
+    /**
+     * Applies the given closure to each collider managed by this physics world.
+     *
+     * @param f(collider) - The function to apply to each collider managed by this physics world. Called as `f(collider)`.
+     */
+    public forEachCollider(f: (collider: Collider) => void) {
+        this.colliders.forEach(f);
+    }
+
+    /**
+     * Applies the given closure to each rigid-body managed by this physics world.
+     *
+     * @param f(body) - The function to apply to each rigid-body managed by this physics world. Called as `f(collider)`.
+     */
+    public forEachRigidBody(f: (body: RigidBody) => void) {
+        this.bodies.forEach(f);
+    }
+
+    /**
+     * Applies the given closure to each active rigid-body managed by this physics world.
+     *
+     * After a short time of inactivity, a rigid-body is automatically deactivated ("asleep") by
+     * the physics engine in order to save computational power. A sleeping rigid-body never moves
+     * unless it is moved manually by the user.
+     *
+     * @param f - The function to apply to each active rigid-body managed by this physics world. Called as `f(collider)`.
+     */
+    public forEachActiveRigidBody(f: (body: RigidBody) => void) {
+        this.bodies.forEachActiveRigidBody(this.islands, f);
+    }
+
+    /**
+     * Find the closest intersection between a ray and the physics world.
+     *
+     * @param ray - The ray to cast.
+     * @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively
+     *   limits the length of the ray to `ray.dir.norm() * maxToi`.
+     * @param solid - If `false` then the ray will attempt to hit the boundary of a shape, even if its
+     *   origin already lies inside of a shape. In other terms, `true` implies that all shapes are plain,
+     *   whereas `false` implies that all shapes are hollow for this ray-cast.
+     * @param groups - Used to filter the colliders that can or cannot be hit by the ray.
+     * @param filter - The callback to filter out which collider will be hit.
+     */
+    public castRay(
+        ray: Ray,
+        maxToi: number,
+        solid: boolean,
+        filterFlags?: QueryFilterFlags,
+        filterGroups?: InteractionGroups,
+        filterExcludeCollider?: Collider,
+        filterExcludeRigidBody?: RigidBody,
+        filterPredicate?: (collider: Collider) => boolean,
+    ): RayColliderHit | null {
+        return this.broadPhase.castRay(
+            this.narrowPhase,
+            this.bodies,
+            this.colliders,
+            ray,
+            maxToi,
+            solid,
+            filterFlags,
+            filterGroups,
+            filterExcludeCollider ? filterExcludeCollider.handle : null,
+            filterExcludeRigidBody ? filterExcludeRigidBody.handle : null,
+            this.colliders.castClosure(filterPredicate),
+        );
+    }
+
+    /**
+     * Find the closest intersection between a ray and the physics world.
+     *
+     * This also computes the normal at the hit point.
+     * @param ray - The ray to cast.
+     * @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively
+     *   limits the length of the ray to `ray.dir.norm() * maxToi`.
+     * @param solid - If `false` then the ray will attempt to hit the boundary of a shape, even if its
+     *   origin already lies inside of a shape. In other terms, `true` implies that all shapes are plain,
+     *   whereas `false` implies that all shapes are hollow for this ray-cast.
+     * @param groups - Used to filter the colliders that can or cannot be hit by the ray.
+     */
+    public castRayAndGetNormal(
+        ray: Ray,
+        maxToi: number,
+        solid: boolean,
+        filterFlags?: QueryFilterFlags,
+        filterGroups?: InteractionGroups,
+        filterExcludeCollider?: Collider,
+        filterExcludeRigidBody?: RigidBody,
+        filterPredicate?: (collider: Collider) => boolean,
+    ): RayColliderIntersection | null {
+        return this.broadPhase.castRayAndGetNormal(
+            this.narrowPhase,
+            this.bodies,
+            this.colliders,
+            ray,
+            maxToi,
+            solid,
+            filterFlags,
+            filterGroups,
+            filterExcludeCollider ? filterExcludeCollider.handle : null,
+            filterExcludeRigidBody ? filterExcludeRigidBody.handle : null,
+            this.colliders.castClosure(filterPredicate),
+        );
+    }
+
+    /**
+     * Cast a ray and collects all the intersections between a ray and the scene.
+     *
+     * @param ray - The ray to cast.
+     * @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively
+     *   limits the length of the ray to `ray.dir.norm() * maxToi`.
+     * @param solid - If `false` then the ray will attempt to hit the boundary of a shape, even if its
+     *   origin already lies inside of a shape. In other terms, `true` implies that all shapes are plain,
+     *   whereas `false` implies that all shapes are hollow for this ray-cast.
+     * @param groups - Used to filter the colliders that can or cannot be hit by the ray.
+     * @param callback - The callback called once per hit (in no particular order) between a ray and a collider.
+     *   If this callback returns `false`, then the cast will stop and no further hits will be detected/reported.
+     */
+    public intersectionsWithRay(
+        ray: Ray,
+        maxToi: number,
+        solid: boolean,
+        callback: (intersect: RayColliderIntersection) => boolean,
+        filterFlags?: QueryFilterFlags,
+        filterGroups?: InteractionGroups,
+        filterExcludeCollider?: Collider,
+        filterExcludeRigidBody?: RigidBody,
+        filterPredicate?: (collider: Collider) => boolean,
+    ) {
+        this.broadPhase.intersectionsWithRay(
+            this.narrowPhase,
+            this.bodies,
+            this.colliders,
+            ray,
+            maxToi,
+            solid,
+            callback,
+            filterFlags,
+            filterGroups,
+            filterExcludeCollider ? filterExcludeCollider.handle : null,
+            filterExcludeRigidBody ? filterExcludeRigidBody.handle : null,
+            this.colliders.castClosure(filterPredicate),
+        );
+    }
+
+    /**
+     * Gets the handle of up to one collider intersecting the given shape.
+     *
+     * @param shapePos - The position of the shape used for the intersection test.
+     * @param shapeRot - The orientation of the shape used for the intersection test.
+     * @param shape - The shape used for the intersection test.
+     * @param groups - The bit groups and filter associated to the ray, in order to only
+     *   hit the colliders with collision groups compatible with the ray's group.
+     */
+    public intersectionWithShape(
+        shapePos: Vector,
+        shapeRot: Rotation,
+        shape: Shape,
+        filterFlags?: QueryFilterFlags,
+        filterGroups?: InteractionGroups,
+        filterExcludeCollider?: Collider,
+        filterExcludeRigidBody?: RigidBody,
+        filterPredicate?: (collider: Collider) => boolean,
+    ): Collider | null {
+        let handle = this.broadPhase.intersectionWithShape(
+            this.narrowPhase,
+            this.bodies,
+            this.colliders,
+            shapePos,
+            shapeRot,
+            shape,
+            filterFlags,
+            filterGroups,
+            filterExcludeCollider ? filterExcludeCollider.handle : null,
+            filterExcludeRigidBody ? filterExcludeRigidBody.handle : null,
+            this.colliders.castClosure(filterPredicate),
+        );
+        return handle != null ? this.colliders.get(handle) : null;
+    }
+
+    /**
+     * Find the projection of a point on the closest collider.
+     *
+     * @param point - The point to project.
+     * @param solid - If this is set to `true` then the collider shapes are considered to
+     *   be plain (if the point is located inside of a plain shape, its projection is the point
+     *   itself). If it is set to `false` the collider shapes are considered to be hollow
+     *   (if the point is located inside of an hollow shape, it is projected on the shape's
+     *   boundary).
+     * @param groups - The bit groups and filter associated to the point to project, in order to only
+     *   project on colliders with collision groups compatible with the ray's group.
+     */
+    public projectPoint(
+        point: Vector,
+        solid: boolean,
+        filterFlags?: QueryFilterFlags,
+        filterGroups?: InteractionGroups,
+        filterExcludeCollider?: Collider,
+        filterExcludeRigidBody?: RigidBody,
+        filterPredicate?: (collider: Collider) => boolean,
+    ): PointColliderProjection | null {
+        return this.broadPhase.projectPoint(
+            this.narrowPhase,
+            this.bodies,
+            this.colliders,
+            point,
+            solid,
+            filterFlags,
+            filterGroups,
+            filterExcludeCollider ? filterExcludeCollider.handle : null,
+            filterExcludeRigidBody ? filterExcludeRigidBody.handle : null,
+            this.colliders.castClosure(filterPredicate),
+        );
+    }
+
+    /**
+     * Find the projection of a point on the closest collider.
+     *
+     * @param point - The point to project.
+     * @param groups - The bit groups and filter associated to the point to project, in order to only
+     *   project on colliders with collision groups compatible with the ray's group.
+     */
+    public projectPointAndGetFeature(
+        point: Vector,
+        filterFlags?: QueryFilterFlags,
+        filterGroups?: InteractionGroups,
+        filterExcludeCollider?: Collider,
+        filterExcludeRigidBody?: RigidBody,
+        filterPredicate?: (collider: Collider) => boolean,
+    ): PointColliderProjection | null {
+        return this.broadPhase.projectPointAndGetFeature(
+            this.narrowPhase,
+            this.bodies,
+            this.colliders,
+            point,
+            filterFlags,
+            filterGroups,
+            filterExcludeCollider ? filterExcludeCollider.handle : null,
+            filterExcludeRigidBody ? filterExcludeRigidBody.handle : null,
+            this.colliders.castClosure(filterPredicate),
+        );
+    }
+
+    /**
+     * Find all the colliders containing the given point.
+     *
+     * @param point - The point used for the containment test.
+     * @param groups - The bit groups and filter associated to the point to test, in order to only
+     *   test on colliders with collision groups compatible with the ray's group.
+     * @param callback - A function called with the handles of each collider with a shape
+     *   containing the `point`.
+     */
+    public intersectionsWithPoint(
+        point: Vector,
+        callback: (handle: Collider) => boolean,
+        filterFlags?: QueryFilterFlags,
+        filterGroups?: InteractionGroups,
+        filterExcludeCollider?: Collider,
+        filterExcludeRigidBody?: RigidBody,
+        filterPredicate?: (collider: Collider) => boolean,
+    ) {
+        this.broadPhase.intersectionsWithPoint(
+            this.narrowPhase,
+            this.bodies,
+            this.colliders,
+            point,
+            this.colliders.castClosure(callback),
+            filterFlags,
+            filterGroups,
+            filterExcludeCollider ? filterExcludeCollider.handle : null,
+            filterExcludeRigidBody ? filterExcludeRigidBody.handle : null,
+            this.colliders.castClosure(filterPredicate),
+        );
+    }
+
+    /**
+     * Casts a shape at a constant linear velocity and retrieve the first collider it hits.
+     * This is similar to ray-casting except that we are casting a whole shape instead of
+     * just a point (the ray origin).
+     *
+     * @param shapePos - The initial position of the shape to cast.
+     * @param shapeRot - The initial rotation of the shape to cast.
+     * @param shapeVel - The constant velocity of the shape to cast (i.e. the cast direction).
+     * @param shape - The shape to cast.
+     * @param targetDistance − If the shape moves closer to this distance from a collider, a hit
+     *                         will be returned.
+     * @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively
+     *   limits the distance traveled by the shape to `shapeVel.norm() * maxToi`.
+     * @param stopAtPenetration - If set to `false`, the linear shape-cast won’t immediately stop if
+     *   the shape is penetrating another shape at its starting point **and** its trajectory is such
+     *   that it’s on a path to exit that penetration state.
+     * @param groups - The bit groups and filter associated to the shape to cast, in order to only
+     *   test on colliders with collision groups compatible with this group.
+     */
+    public castShape(
+        shapePos: Vector,
+        shapeRot: Rotation,
+        shapeVel: Vector,
+        shape: Shape,
+        targetDistance: number,
+        maxToi: number,
+        stopAtPenetration: boolean,
+        filterFlags?: QueryFilterFlags,
+        filterGroups?: InteractionGroups,
+        filterExcludeCollider?: Collider,
+        filterExcludeRigidBody?: RigidBody,
+        filterPredicate?: (collider: Collider) => boolean,
+    ): ColliderShapeCastHit | null {
+        return this.broadPhase.castShape(
+            this.narrowPhase,
+            this.bodies,
+            this.colliders,
+            shapePos,
+            shapeRot,
+            shapeVel,
+            shape,
+            targetDistance,
+            maxToi,
+            stopAtPenetration,
+            filterFlags,
+            filterGroups,
+            filterExcludeCollider ? filterExcludeCollider.handle : null,
+            filterExcludeRigidBody ? filterExcludeRigidBody.handle : null,
+            this.colliders.castClosure(filterPredicate),
+        );
+    }
+
+    /**
+     * Retrieve all the colliders intersecting the given shape.
+     *
+     * @param shapePos - The position of the shape to test.
+     * @param shapeRot - The orientation of the shape to test.
+     * @param shape - The shape to test.
+     * @param groups - The bit groups and filter associated to the shape to test, in order to only
+     *   test on colliders with collision groups compatible with this group.
+     * @param callback - A function called with the handles of each collider intersecting the `shape`.
+     */
+    public intersectionsWithShape(
+        shapePos: Vector,
+        shapeRot: Rotation,
+        shape: Shape,
+        callback: (collider: Collider) => boolean,
+        filterFlags?: QueryFilterFlags,
+        filterGroups?: InteractionGroups,
+        filterExcludeCollider?: Collider,
+        filterExcludeRigidBody?: RigidBody,
+        filterPredicate?: (collider: Collider) => boolean,
+    ) {
+        this.broadPhase.intersectionsWithShape(
+            this.narrowPhase,
+            this.bodies,
+            this.colliders,
+            shapePos,
+            shapeRot,
+            shape,
+            this.colliders.castClosure(callback),
+            filterFlags,
+            filterGroups,
+            filterExcludeCollider ? filterExcludeCollider.handle : null,
+            filterExcludeRigidBody ? filterExcludeRigidBody.handle : null,
+            this.colliders.castClosure(filterPredicate),
+        );
+    }
+
+    /**
+     * Finds the handles of all the colliders with an AABB intersecting the given AABB.
+     *
+     * @param aabbCenter - The center of the AABB to test.
+     * @param aabbHalfExtents - The half-extents of the AABB to test.
+     * @param callback - The callback that will be called with the handles of all the colliders
+     *                   currently intersecting the given AABB.
+     */
+    public collidersWithAabbIntersectingAabb(
+        aabbCenter: Vector,
+        aabbHalfExtents: Vector,
+        callback: (handle: Collider) => boolean,
+    ) {
+        this.broadPhase.collidersWithAabbIntersectingAabb(
+            this.narrowPhase,
+            this.bodies,
+            this.colliders,
+            aabbCenter,
+            aabbHalfExtents,
+            this.colliders.castClosure(callback),
+        );
+    }
+
+    /**
+     * Enumerates all the colliders potentially in contact with the given collider.
+     *
+     * @param collider1 - The second collider involved in the contact.
+     * @param f - Closure that will be called on each collider that is in contact with `collider1`.
+     */
+    public contactPairsWith(
+        collider1: Collider,
+        f: (collider2: Collider) => void,
+    ) {
+        this.narrowPhase.contactPairsWith(
+            collider1.handle,
+            this.colliders.castClosure(f),
+        );
+    }
+
+    /**
+     * Enumerates all the colliders intersecting the given colliders, assuming one of them
+     * is a sensor.
+     */
+    public intersectionPairsWith(
+        collider1: Collider,
+        f: (collider2: Collider) => void,
+    ) {
+        this.narrowPhase.intersectionPairsWith(
+            collider1.handle,
+            this.colliders.castClosure(f),
+        );
+    }
+
+    /**
+     * Iterates through all the contact manifolds between the given pair of colliders.
+     *
+     * @param collider1 - The first collider involved in the contact.
+     * @param collider2 - The second collider involved in the contact.
+     * @param f - Closure that will be called on each contact manifold between the two colliders. If the second argument
+     *            passed to this closure is `true`, then the contact manifold data is flipped, i.e., methods like `localNormal1`
+     *            actually apply to the `collider2` and fields like `localNormal2` apply to the `collider1`.
+     */
+    public contactPair(
+        collider1: Collider,
+        collider2: Collider,
+        f: (manifold: TempContactManifold, flipped: boolean) => void,
+    ) {
+        this.narrowPhase.contactPair(collider1.handle, collider2.handle, f);
+    }
+
+    /**
+     * Returns `true` if `collider1` and `collider2` intersect and at least one of them is a sensor.
+     * @param collider1 − The first collider involved in the intersection.
+     * @param collider2 − The second collider involved in the intersection.
+     */
+    public intersectionPair(collider1: Collider, collider2: Collider): boolean {
+        return this.narrowPhase.intersectionPair(
+            collider1.handle,
+            collider2.handle,
+        );
+    }
+
+    /**
+     * Sets whether internal performance profiling is enabled (default: false).
+     *
+     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
+     */
+    set profilerEnabled(enabled: boolean) {
+        this.physicsPipeline.raw.set_profiler_enabled(enabled);
+    }
+
+    /**
+     * Indicates if the internal performance profiling is enabled.
+     *
+     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
+     */
+    get profilerEnabled(): boolean {
+        return this.physicsPipeline.raw.is_profiler_enabled();
+    }
+
+    /**
+     * The time spent in milliseconds by the last step to run the entire simulation step.
+     *
+     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
+     */
+    public timingStep(): number {
+        return this.physicsPipeline.raw.timing_step();
+    }
+
+    /**
+     * The time spent in milliseconds by the last step to run the collision-detection
+     * (broad-phase + narrow-phase).
+     *
+     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
+     */
+    public timingCollisionDetection(): number {
+        return this.physicsPipeline.raw.timing_collision_detection();
+    }
+
+    /**
+     * The time spent in milliseconds by the last step to run the broad-phase.
+     *
+     * This timing is included in `timingCollisionDetection`.
+     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
+     */
+    public timingBroadPhase(): number {
+        return this.physicsPipeline.raw.timing_broad_phase();
+    }
+
+    /**
+     * The time spent in milliseconds by the last step to run the narrow-phase.
+     *
+     * This timing is included in `timingCollisionDetection`.
+     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
+     */
+    public timingNarrowPhase(): number {
+        return this.physicsPipeline.raw.timing_narrow_phase();
+    }
+
+    /**
+     * The time spent in milliseconds by the last step to run the constraint solver.
+     *
+     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
+     */
+    public timingSolver(): number {
+        return this.physicsPipeline.raw.timing_solver();
+    }
+
+    /**
+     * The time spent in milliseconds by the last step to run the constraint
+     * initialization.
+     *
+     * This timing is included in `timingSolver`.
+     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
+     */
+    public timingVelocityAssembly(): number {
+        return this.physicsPipeline.raw.timing_velocity_assembly();
+    }
+
+    /**
+     * The time spent in milliseconds by the last step to run the constraint
+     * resolution.
+     *
+     * This timing is included in `timingSolver`.
+     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
+     */
+    public timingVelocityResolution(): number {
+        return this.physicsPipeline.raw.timing_velocity_resolution();
+    }
+
+    /**
+     * The time spent in milliseconds by the last step to run the rigid-body
+     * velocity update.
+     *
+     * This timing is included in `timingSolver`.
+     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
+     */
+    public timingVelocityUpdate(): number {
+        return this.physicsPipeline.raw.timing_velocity_update();
+    }
+
+    /**
+     * The time spent in milliseconds by writing rigid-body velocities
+     * calculated by the solver back into the rigid-bodies.
+     *
+     * This timing is included in `timingSolver`.
+     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
+     */
+    public timingVelocityWriteback(): number {
+        return this.physicsPipeline.raw.timing_velocity_writeback();
+    }
+
+    /**
+     * The total time spent in CCD detection and resolution.
+     *
+     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
+     */
+    public timingCcd(): number {
+        return this.physicsPipeline.raw.timing_ccd();
+    }
+
+    /**
+     * The total time spent searching for the continuous hits during CCD.
+     *
+     * This timing is included in `timingCcd`.
+     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
+     */
+    public timingCcdToiComputation(): number {
+        return this.physicsPipeline.raw.timing_ccd_toi_computation();
+    }
+
+    /**
+     * The total time spent in the broad-phase during CCD.
+     *
+     * This timing is included in `timingCcd`.
+     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
+     */
+    public timingCcdBroadPhase(): number {
+        return this.physicsPipeline.raw.timing_ccd_broad_phase();
+    }
+
+    /**
+     * The total time spent in the narrow-phase during CCD.
+     *
+     * This timing is included in `timingCcd`.
+     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
+     */
+    public timingCcdNarrowPhase(): number {
+        return this.physicsPipeline.raw.timing_ccd_narrow_phase();
+    }
+
+    /**
+     * The total time spent in the constraints resolution during CCD.
+     *
+     * This timing is included in `timingCcd`.
+     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
+     */
+    public timingCcdSolver(): number {
+        return this.physicsPipeline.raw.timing_ccd_solver();
+    }
+
+    /**
+     * The total time spent in the islands calculation during CCD.
+     *
+     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
+     */
+    public timingIslandConstruction(): number {
+        return this.physicsPipeline.raw.timing_island_construction();
+    }
+
+    /**
+     * The total time spent propagating detected user changes.
+     *
+     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.
+     */
+    public timingUserChanges(): number {
+        return this.physicsPipeline.raw.timing_user_changes();
+    }
+}
diff --git a/thirdparty/rapier.js/src.ts/rapier.ts b/thirdparty/rapier.js/src.ts/rapier.ts
new file mode 100644
index 00000000..dbf4d053
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/rapier.ts
@@ -0,0 +1,3 @@
+import * as RAPIER from "./exports";
+export * from "./exports";
+export default RAPIER;
diff --git a/thirdparty/rapier.js/src.ts/raw.ts b/thirdparty/rapier.js/src.ts/raw.ts
new file mode 100644
index 00000000..51f837b7
--- /dev/null
+++ b/thirdparty/rapier.js/src.ts/raw.ts
@@ -0,0 +1 @@
+export * from "../rapier3d/pkg/rapier_wasm3d";
diff --git a/thirdparty/rapier.js/src/control/character_controller.rs b/thirdparty/rapier.js/src/control/character_controller.rs
new file mode 100644
index 00000000..03cbdc5d
--- /dev/null
+++ b/thirdparty/rapier.js/src/control/character_controller.rs
@@ -0,0 +1,290 @@
+use crate::dynamics::RawRigidBodySet;
+use crate::geometry::{RawBroadPhase, RawColliderSet, RawNarrowPhase};
+use crate::math::RawVector;
+use crate::utils::{self, FlatHandle};
+use na::{Isometry, Unit};
+use rapier::control::{
+    CharacterAutostep, CharacterCollision, CharacterLength, EffectiveCharacterMovement,
+    KinematicCharacterController,
+};
+use rapier::geometry::{ColliderHandle, ShapeCastHit};
+use rapier::math::{Point, Real, Vector};
+use rapier::parry::query::ShapeCastStatus;
+use rapier::pipeline::{QueryFilter, QueryFilterFlags};
+use wasm_bindgen::prelude::*;
+
+#[wasm_bindgen]
+pub struct RawKinematicCharacterController {
+    controller: KinematicCharacterController,
+    result: EffectiveCharacterMovement,
+    events: Vec<CharacterCollision>,
+}
+
+fn length_value(length: CharacterLength) -> Real {
+    match length {
+        CharacterLength::Absolute(val) => val,
+        CharacterLength::Relative(val) => val,
+    }
+}
+#[wasm_bindgen]
+impl RawKinematicCharacterController {
+    #[wasm_bindgen(constructor)]
+    pub fn new(offset: Real) -> Self {
+        let controller = KinematicCharacterController {
+            offset: CharacterLength::Absolute(offset),
+            autostep: None,
+            snap_to_ground: None,
+            ..KinematicCharacterController::default()
+        };
+
+        Self {
+            controller,
+            result: EffectiveCharacterMovement {
+                translation: Vector::zeros(),
+                grounded: false,
+                is_sliding_down_slope: false,
+            },
+            events: vec![],
+        }
+    }
+
+    pub fn up(&self) -> RawVector {
+        self.controller.up.into_inner().into()
+    }
+
+    pub fn setUp(&mut self, vector: &RawVector) {
+        self.controller.up = Unit::new_normalize(vector.0);
+    }
+
+    pub fn normalNudgeFactor(&self) -> Real {
+        self.controller.normal_nudge_factor
+    }
+
+    pub fn setNormalNudgeFactor(&mut self, value: Real) {
+        self.controller.normal_nudge_factor = value;
+    }
+
+    pub fn offset(&self) -> Real {
+        length_value(self.controller.offset)
+    }
+
+    pub fn setOffset(&mut self, value: Real) {
+        self.controller.offset = CharacterLength::Absolute(value);
+    }
+
+    pub fn slideEnabled(&self) -> bool {
+        self.controller.slide
+    }
+
+    pub fn setSlideEnabled(&mut self, enabled: bool) {
+        self.controller.slide = enabled
+    }
+
+    pub fn autostepMaxHeight(&self) -> Option<Real> {
+        self.controller.autostep.map(|e| length_value(e.max_height))
+    }
+
+    pub fn autostepMinWidth(&self) -> Option<Real> {
+        self.controller.autostep.map(|e| length_value(e.min_width))
+    }
+
+    pub fn autostepIncludesDynamicBodies(&self) -> Option<bool> {
+        self.controller.autostep.map(|e| e.include_dynamic_bodies)
+    }
+
+    pub fn autostepEnabled(&self) -> bool {
+        self.controller.autostep.is_some()
+    }
+
+    pub fn enableAutostep(&mut self, maxHeight: Real, minWidth: Real, includeDynamicBodies: bool) {
+        self.controller.autostep = Some(CharacterAutostep {
+            min_width: CharacterLength::Absolute(minWidth),
+            max_height: CharacterLength::Absolute(maxHeight),
+            include_dynamic_bodies: includeDynamicBodies,
+        })
+    }
+
+    pub fn disableAutostep(&mut self) {
+        self.controller.autostep = None;
+    }
+
+    pub fn maxSlopeClimbAngle(&self) -> Real {
+        self.controller.max_slope_climb_angle
+    }
+
+    pub fn setMaxSlopeClimbAngle(&mut self, angle: Real) {
+        self.controller.max_slope_climb_angle = angle;
+    }
+
+    pub fn minSlopeSlideAngle(&self) -> Real {
+        self.controller.min_slope_slide_angle
+    }
+
+    pub fn setMinSlopeSlideAngle(&mut self, angle: Real) {
+        self.controller.min_slope_slide_angle = angle
+    }
+
+    pub fn snapToGroundDistance(&self) -> Option<Real> {
+        self.controller.snap_to_ground.map(length_value)
+    }
+
+    pub fn enableSnapToGround(&mut self, distance: Real) {
+        self.controller.snap_to_ground = Some(CharacterLength::Absolute(distance));
+    }
+
+    pub fn disableSnapToGround(&mut self) {
+        self.controller.snap_to_ground = None;
+    }
+
+    pub fn snapToGroundEnabled(&self) -> bool {
+        self.controller.snap_to_ground.is_some()
+    }
+
+    pub fn computeColliderMovement(
+        &mut self,
+        dt: Real,
+        broad_phase: &RawBroadPhase,
+        narrow_phase: &RawNarrowPhase,
+        bodies: &mut RawRigidBodySet,
+        colliders: &mut RawColliderSet,
+        collider_handle: FlatHandle,
+        desired_translation_delta: &RawVector,
+        apply_impulses_to_dynamic_bodies: bool,
+        character_mass: Option<Real>,
+        filter_flags: u32,
+        filter_groups: Option<u32>,
+        filter_predicate: &js_sys::Function,
+    ) {
+        let handle = crate::utils::collider_handle(collider_handle);
+        if let Some(collider) = colliders.0.get(handle) {
+            let collider_pose = *collider.position();
+            let collider_shape = collider.shared_shape().clone();
+            let collider_parent = collider.parent();
+
+            crate::utils::with_filter(filter_predicate, |predicate| {
+                let query_filter = QueryFilter {
+                    flags: QueryFilterFlags::from_bits(filter_flags)
+                        .unwrap_or(QueryFilterFlags::empty()),
+                    groups: filter_groups.map(crate::geometry::unpack_interaction_groups),
+                    exclude_collider: Some(handle),
+                    exclude_rigid_body: collider_parent,
+                    predicate,
+                };
+
+                let character_mass = character_mass
+                    .or_else(|| {
+                        collider_parent
+                            .and_then(|h| bodies.0.get(h))
+                            .map(|b| b.mass())
+                    })
+                    .unwrap_or(0.0);
+
+                let mut query_pipeline = broad_phase.0.as_query_pipeline_mut(
+                    narrow_phase.0.query_dispatcher(),
+                    &mut bodies.0,
+                    &mut colliders.0,
+                    query_filter,
+                );
+
+                self.events.clear();
+                let events = &mut self.events;
+                self.result = self.controller.move_shape(
+                    dt,
+                    &query_pipeline.as_ref(),
+                    &*collider_shape,
+                    &collider_pose,
+                    desired_translation_delta.0,
+                    |event| events.push(event),
+                );
+
+                if apply_impulses_to_dynamic_bodies {
+                    self.controller.solve_character_collision_impulses(
+                        dt,
+                        &mut query_pipeline,
+                        &*collider_shape,
+                        character_mass,
+                        self.events.iter(),
+                    );
+                }
+            });
+        } else {
+            self.result.translation.fill(0.0);
+        }
+    }
+
+    pub fn computedMovement(&self) -> RawVector {
+        self.result.translation.into()
+    }
+
+    pub fn computedGrounded(&self) -> bool {
+        self.result.grounded
+    }
+
+    pub fn numComputedCollisions(&self) -> usize {
+        self.events.len()
+    }
+
+    pub fn computedCollision(&self, i: usize, collision: &mut RawCharacterCollision) -> bool {
+        if let Some(coll) = self.events.get(i) {
+            collision.0 = *coll;
+        }
+
+        i < self.events.len()
+    }
+}
+
+#[wasm_bindgen]
+pub struct RawCharacterCollision(CharacterCollision);
+
+#[wasm_bindgen]
+impl RawCharacterCollision {
+    #[wasm_bindgen(constructor)]
+    pub fn new() -> Self {
+        Self(CharacterCollision {
+            handle: ColliderHandle::invalid(),
+            character_pos: Isometry::identity(),
+            translation_applied: Vector::zeros(),
+            translation_remaining: Vector::zeros(),
+            hit: ShapeCastHit {
+                time_of_impact: 0.0,
+                witness1: Point::origin(),
+                witness2: Point::origin(),
+                normal1: Vector::y_axis(),
+                normal2: Vector::y_axis(),
+                status: ShapeCastStatus::Failed,
+            },
+        })
+    }
+
+    pub fn handle(&self) -> FlatHandle {
+        utils::flat_handle(self.0.handle.0)
+    }
+
+    pub fn translationDeltaApplied(&self) -> RawVector {
+        self.0.translation_applied.into()
+    }
+
+    pub fn translationDeltaRemaining(&self) -> RawVector {
+        self.0.translation_remaining.into()
+    }
+
+    pub fn toi(&self) -> Real {
+        self.0.hit.time_of_impact
+    }
+
+    pub fn worldWitness1(&self) -> RawVector {
+        self.0.hit.witness1.coords.into() // Already in world-space.
+    }
+
+    pub fn worldWitness2(&self) -> RawVector {
+        (self.0.character_pos * self.0.hit.witness2).coords.into()
+    }
+
+    pub fn worldNormal1(&self) -> RawVector {
+        self.0.hit.normal1.into_inner().into() // Already in world-space.
+    }
+
+    pub fn worldNormal2(&self) -> RawVector {
+        (self.0.character_pos * self.0.hit.normal2.into_inner()).into()
+    }
+}
diff --git a/thirdparty/rapier.js/src/control/mod.rs b/thirdparty/rapier.js/src/control/mod.rs
new file mode 100644
index 00000000..74352c2b
--- /dev/null
+++ b/thirdparty/rapier.js/src/control/mod.rs
@@ -0,0 +1,11 @@
+pub use self::character_controller::RawKinematicCharacterController;
+pub use self::pid_controller::RawPidController;
+
+#[cfg(feature = "dim3")]
+pub use self::ray_cast_vehicle_controller::RawDynamicRayCastVehicleController;
+
+mod character_controller;
+mod pid_controller;
+
+#[cfg(feature = "dim3")]
+mod ray_cast_vehicle_controller;
diff --git a/thirdparty/rapier.js/src/control/pid_controller.rs b/thirdparty/rapier.js/src/control/pid_controller.rs
new file mode 100644
index 00000000..890e3391
--- /dev/null
+++ b/thirdparty/rapier.js/src/control/pid_controller.rs
@@ -0,0 +1,264 @@
+use crate::dynamics::RawRigidBodySet;
+use crate::math::RawVector;
+use crate::utils::{self, FlatHandle};
+use rapier::control::PidController;
+use rapier::dynamics::AxesMask;
+use rapier::math::Vector;
+use wasm_bindgen::prelude::*;
+
+#[cfg(feature = "dim3")]
+use crate::math::RawRotation;
+#[cfg(feature = "dim2")]
+use rapier::math::Rotation;
+
+#[wasm_bindgen]
+pub struct RawPidController {
+    controller: PidController,
+}
+
+#[wasm_bindgen]
+impl RawPidController {
+    #[wasm_bindgen(constructor)]
+    pub fn new(kp: f32, ki: f32, kd: f32, axes_mask: u8) -> Self {
+        let controller = PidController::new(
+            kp,
+            ki,
+            kd,
+            AxesMask::from_bits(axes_mask).unwrap_or(AxesMask::all()),
+        );
+        Self { controller }
+    }
+
+    pub fn set_kp(&mut self, kp: f32, axes: u8) {
+        let axes = AxesMask::from_bits(axes).unwrap_or(AxesMask::all());
+        if axes.contains(AxesMask::LIN_X) {
+            self.controller.pd.lin_kp.x = kp;
+        }
+        if axes.contains(AxesMask::LIN_Y) {
+            self.controller.pd.lin_kp.y = kp;
+        }
+        #[cfg(feature = "dim3")]
+        if axes.contains(AxesMask::LIN_Z) {
+            self.controller.pd.lin_kp.z = kp;
+        }
+        #[cfg(feature = "dim3")]
+        if axes.contains(AxesMask::ANG_X) {
+            self.controller.pd.ang_kp.x = kp;
+        }
+        #[cfg(feature = "dim3")]
+        if axes.contains(AxesMask::ANG_Y) {
+            self.controller.pd.ang_kp.y = kp;
+        }
+        if axes.contains(AxesMask::ANG_Z) {
+            #[cfg(feature = "dim2")]
+            {
+                self.controller.pd.ang_kp = kp;
+            }
+            #[cfg(feature = "dim3")]
+            {
+                self.controller.pd.ang_kp.z = kp;
+            }
+        }
+    }
+
+    pub fn set_ki(&mut self, ki: f32, axes: u8) {
+        let axes = AxesMask::from_bits(axes).unwrap_or(AxesMask::all());
+        if axes.contains(AxesMask::LIN_X) {
+            self.controller.lin_ki.x = ki;
+        }
+        if axes.contains(AxesMask::LIN_Y) {
+            self.controller.lin_ki.y = ki;
+        }
+        #[cfg(feature = "dim3")]
+        if axes.contains(AxesMask::LIN_Z) {
+            self.controller.lin_ki.z = ki;
+        }
+        #[cfg(feature = "dim3")]
+        if axes.contains(AxesMask::ANG_X) {
+            self.controller.ang_ki.x = ki;
+        }
+        #[cfg(feature = "dim3")]
+        if axes.contains(AxesMask::ANG_Y) {
+            self.controller.ang_ki.y = ki;
+        }
+        if axes.contains(AxesMask::ANG_Z) {
+            #[cfg(feature = "dim2")]
+            {
+                self.controller.ang_ki = ki;
+            }
+            #[cfg(feature = "dim3")]
+            {
+                self.controller.ang_ki.z = ki;
+            }
+        }
+    }
+
+    pub fn set_kd(&mut self, kd: f32, axes: u8) {
+        let axes = AxesMask::from_bits(axes).unwrap_or(AxesMask::all());
+        if axes.contains(AxesMask::LIN_X) {
+            self.controller.pd.lin_kd.x = kd;
+        }
+        if axes.contains(AxesMask::LIN_Y) {
+            self.controller.pd.lin_kd.x = kd;
+        }
+        #[cfg(feature = "dim3")]
+        if axes.contains(AxesMask::LIN_Z) {
+            self.controller.pd.lin_kd.x = kd;
+        }
+        #[cfg(feature = "dim3")]
+        if axes.contains(AxesMask::ANG_X) {
+            self.controller.pd.ang_kd.x = kd;
+        }
+        #[cfg(feature = "dim3")]
+        if axes.contains(AxesMask::ANG_Y) {
+            self.controller.pd.ang_kd.y = kd;
+        }
+        if axes.contains(AxesMask::ANG_Z) {
+            #[cfg(feature = "dim2")]
+            {
+                self.controller.pd.ang_kd = kd;
+            }
+            #[cfg(feature = "dim3")]
+            {
+                self.controller.pd.ang_kd.z = kd;
+            }
+        }
+    }
+
+    pub fn set_axes_mask(&mut self, axes_mask: u8) {
+        if let Some(mask) = AxesMask::from_bits(axes_mask) {
+            self.controller.pd.axes = mask;
+        }
+    }
+
+    pub fn reset_integrals(&mut self) {
+        self.controller.reset_integrals();
+    }
+
+    pub fn apply_linear_correction(
+        &mut self,
+        dt: f32,
+        bodies: &mut RawRigidBodySet,
+        rb_handle: FlatHandle,
+        target_translation: &RawVector,
+        target_linvel: &RawVector,
+    ) {
+        let rb_handle = utils::body_handle(rb_handle);
+        let Some(rb) = bodies.0.get_mut(rb_handle) else {
+            return;
+        };
+
+        let correction = self.controller.linear_rigid_body_correction(
+            dt,
+            rb,
+            target_translation.0.into(),
+            target_linvel.0,
+        );
+        rb.set_linvel(*rb.linvel() + correction, true);
+    }
+
+    #[cfg(feature = "dim2")]
+    pub fn apply_angular_correction(
+        &mut self,
+        dt: f32,
+        bodies: &mut RawRigidBodySet,
+        rb_handle: FlatHandle,
+        target_rotation: f32,
+        target_angvel: f32,
+    ) {
+        let rb_handle = crate::utils::body_handle(rb_handle);
+        let Some(rb) = bodies.0.get_mut(rb_handle) else {
+            return;
+        };
+
+        let correction = self.controller.angular_rigid_body_correction(
+            dt,
+            rb,
+            Rotation::new(target_rotation),
+            target_angvel,
+        );
+        rb.set_angvel(rb.angvel() + correction, true);
+    }
+
+    #[cfg(feature = "dim3")]
+    pub fn apply_angular_correction(
+        &mut self,
+        dt: f32,
+        bodies: &mut RawRigidBodySet,
+        rb_handle: FlatHandle,
+        target_rotation: &RawRotation,
+        target_angvel: &RawVector,
+    ) {
+        let rb_handle = crate::utils::body_handle(rb_handle);
+        let Some(rb) = bodies.0.get_mut(rb_handle) else {
+            return;
+        };
+
+        let correction = self.controller.angular_rigid_body_correction(
+            dt,
+            rb,
+            target_rotation.0,
+            target_angvel.0,
+        );
+        rb.set_angvel(rb.angvel() + correction, true);
+    }
+
+    pub fn linear_correction(
+        &mut self,
+        dt: f32,
+        bodies: &RawRigidBodySet,
+        rb_handle: FlatHandle,
+        target_translation: &RawVector,
+        target_linvel: &RawVector,
+    ) -> RawVector {
+        let rb_handle = crate::utils::body_handle(rb_handle);
+        let Some(rb) = bodies.0.get(rb_handle) else {
+            return RawVector(Vector::zeros());
+        };
+
+        self.controller
+            .linear_rigid_body_correction(dt, rb, target_translation.0.into(), target_linvel.0)
+            .into()
+    }
+
+    #[cfg(feature = "dim2")]
+    pub fn angular_correction(
+        &mut self,
+        dt: f32,
+        bodies: &RawRigidBodySet,
+        rb_handle: FlatHandle,
+        target_rotation: f32,
+        target_angvel: f32,
+    ) -> f32 {
+        let rb_handle = crate::utils::body_handle(rb_handle);
+        let Some(rb) = bodies.0.get(rb_handle) else {
+            return 0.0;
+        };
+
+        self.controller.angular_rigid_body_correction(
+            dt,
+            rb,
+            Rotation::new(target_rotation),
+            target_angvel,
+        )
+    }
+
+    #[cfg(feature = "dim3")]
+    pub fn angular_correction(
+        &mut self,
+        dt: f32,
+        bodies: &RawRigidBodySet,
+        rb_handle: FlatHandle,
+        target_rotation: &RawRotation,
+        target_angvel: &RawVector,
+    ) -> RawVector {
+        let rb_handle = crate::utils::body_handle(rb_handle);
+        let Some(rb) = bodies.0.get(rb_handle) else {
+            return RawVector(Vector::zeros());
+        };
+
+        self.controller
+            .angular_rigid_body_correction(dt, rb, target_rotation.0, target_angvel.0)
+            .into()
+    }
+}
diff --git a/thirdparty/rapier.js/src/control/ray_cast_vehicle_controller.rs b/thirdparty/rapier.js/src/control/ray_cast_vehicle_controller.rs
new file mode 100644
index 00000000..36bd7f61
--- /dev/null
+++ b/thirdparty/rapier.js/src/control/ray_cast_vehicle_controller.rs
@@ -0,0 +1,336 @@
+use crate::dynamics::RawRigidBodySet;
+use crate::geometry::{RawBroadPhase, RawColliderSet, RawNarrowPhase};
+use crate::math::RawVector;
+use crate::utils::{self, FlatHandle};
+use rapier::control::{DynamicRayCastVehicleController, WheelTuning};
+use rapier::math::Real;
+use rapier::pipeline::{QueryFilter, QueryFilterFlags};
+use wasm_bindgen::prelude::*;
+
+#[wasm_bindgen]
+pub struct RawDynamicRayCastVehicleController {
+    controller: DynamicRayCastVehicleController,
+}
+
+#[wasm_bindgen]
+impl RawDynamicRayCastVehicleController {
+    #[wasm_bindgen(constructor)]
+    pub fn new(chassis: FlatHandle) -> Self {
+        Self {
+            controller: DynamicRayCastVehicleController::new(utils::body_handle(chassis)),
+        }
+    }
+
+    pub fn current_vehicle_speed(&self) -> Real {
+        self.controller.current_vehicle_speed
+    }
+
+    pub fn chassis(&self) -> FlatHandle {
+        utils::flat_handle(self.controller.chassis.0)
+    }
+
+    pub fn index_up_axis(&self) -> usize {
+        self.controller.index_up_axis
+    }
+    pub fn set_index_up_axis(&mut self, axis: usize) {
+        self.controller.index_up_axis = axis;
+    }
+
+    pub fn index_forward_axis(&self) -> usize {
+        self.controller.index_forward_axis
+    }
+    pub fn set_index_forward_axis(&mut self, axis: usize) {
+        self.controller.index_forward_axis = axis;
+    }
+
+    pub fn add_wheel(
+        &mut self,
+        chassis_connection_cs: &RawVector,
+        direction_cs: &RawVector,
+        axle_cs: &RawVector,
+        suspension_rest_length: Real,
+        radius: Real,
+    ) {
+        self.controller.add_wheel(
+            chassis_connection_cs.0.into(),
+            direction_cs.0,
+            axle_cs.0,
+            suspension_rest_length,
+            radius,
+            &WheelTuning::default(),
+        );
+    }
+
+    pub fn num_wheels(&self) -> usize {
+        self.controller.wheels().len()
+    }
+
+    pub fn update_vehicle(
+        &mut self,
+        dt: Real,
+        broad_phase: &RawBroadPhase,
+        narrow_phase: &RawNarrowPhase,
+        bodies: &mut RawRigidBodySet,
+        colliders: &mut RawColliderSet,
+        filter_flags: u32,
+        filter_groups: Option<u32>,
+        filter_predicate: &js_sys::Function,
+    ) {
+        crate::utils::with_filter(filter_predicate, |predicate| {
+            let query_filter = QueryFilter {
+                flags: QueryFilterFlags::from_bits(filter_flags)
+                    .unwrap_or(QueryFilterFlags::empty()),
+                groups: filter_groups.map(crate::geometry::unpack_interaction_groups),
+                predicate,
+                exclude_rigid_body: Some(self.controller.chassis),
+                exclude_collider: None,
+            };
+
+            let query_pipeline = broad_phase.0.as_query_pipeline_mut(
+                narrow_phase.0.query_dispatcher(),
+                &mut bodies.0,
+                &mut colliders.0,
+                query_filter,
+            );
+
+            self.controller.update_vehicle(dt, query_pipeline);
+        });
+    }
+
+    /*
+     *
+     * Access to wheel properties.
+     *
+     */
+    /*
+     * Getters + setters
+     */
+    pub fn wheel_chassis_connection_point_cs(&self, i: usize) -> Option<RawVector> {
+        self.controller
+            .wheels()
+            .get(i)
+            .map(|w| w.chassis_connection_point_cs.into())
+    }
+    pub fn set_wheel_chassis_connection_point_cs(&mut self, i: usize, value: &RawVector) {
+        if let Some(wheel) = self.controller.wheels_mut().get_mut(i) {
+            wheel.chassis_connection_point_cs = value.0.into();
+        }
+    }
+
+    pub fn wheel_suspension_rest_length(&self, i: usize) -> Option<Real> {
+        self.controller
+            .wheels()
+            .get(i)
+            .map(|w| w.suspension_rest_length)
+    }
+    pub fn set_wheel_suspension_rest_length(&mut self, i: usize, value: Real) {
+        if let Some(wheel) = self.controller.wheels_mut().get_mut(i) {
+            wheel.suspension_rest_length = value;
+        }
+    }
+
+    pub fn wheel_max_suspension_travel(&self, i: usize) -> Option<Real> {
+        self.controller
+            .wheels()
+            .get(i)
+            .map(|w| w.max_suspension_travel)
+    }
+    pub fn set_wheel_max_suspension_travel(&mut self, i: usize, value: Real) {
+        if let Some(wheel) = self.controller.wheels_mut().get_mut(i) {
+            wheel.max_suspension_travel = value;
+        }
+    }
+
+    pub fn wheel_radius(&self, i: usize) -> Option<Real> {
+        self.controller.wheels().get(i).map(|w| w.radius)
+    }
+    pub fn set_wheel_radius(&mut self, i: usize, value: Real) {
+        if let Some(wheel) = self.controller.wheels_mut().get_mut(i) {
+            wheel.radius = value;
+        }
+    }
+
+    pub fn wheel_suspension_stiffness(&self, i: usize) -> Option<Real> {
+        self.controller
+            .wheels()
+            .get(i)
+            .map(|w| w.suspension_stiffness)
+    }
+    pub fn set_wheel_suspension_stiffness(&mut self, i: usize, value: Real) {
+        if let Some(wheel) = self.controller.wheels_mut().get_mut(i) {
+            wheel.suspension_stiffness = value;
+        }
+    }
+
+    pub fn wheel_suspension_compression(&self, i: usize) -> Option<Real> {
+        self.controller
+            .wheels()
+            .get(i)
+            .map(|w| w.damping_compression)
+    }
+    pub fn set_wheel_suspension_compression(&mut self, i: usize, value: Real) {
+        if let Some(wheel) = self.controller.wheels_mut().get_mut(i) {
+            wheel.damping_compression = value;
+        }
+    }
+
+    pub fn wheel_suspension_relaxation(&self, i: usize) -> Option<Real> {
+        self.controller
+            .wheels()
+            .get(i)
+            .map(|w| w.damping_relaxation)
+    }
+    pub fn set_wheel_suspension_relaxation(&mut self, i: usize, value: Real) {
+        if let Some(wheel) = self.controller.wheels_mut().get_mut(i) {
+            wheel.damping_relaxation = value;
+        }
+    }
+
+    pub fn wheel_max_suspension_force(&self, i: usize) -> Option<Real> {
+        self.controller
+            .wheels()
+            .get(i)
+            .map(|w| w.max_suspension_force)
+    }
+    pub fn set_wheel_max_suspension_force(&mut self, i: usize, value: Real) {
+        if let Some(wheel) = self.controller.wheels_mut().get_mut(i) {
+            wheel.max_suspension_force = value;
+        }
+    }
+
+    pub fn wheel_brake(&self, i: usize) -> Option<Real> {
+        self.controller.wheels().get(i).map(|w| w.brake)
+    }
+    pub fn set_wheel_brake(&mut self, i: usize, value: Real) {
+        if let Some(wheel) = self.controller.wheels_mut().get_mut(i) {
+            wheel.brake = value;
+        }
+    }
+
+    pub fn wheel_steering(&self, i: usize) -> Option<Real> {
+        self.controller.wheels().get(i).map(|w| w.steering)
+    }
+    pub fn set_wheel_steering(&mut self, i: usize, value: Real) {
+        if let Some(wheel) = self.controller.wheels_mut().get_mut(i) {
+            wheel.steering = value;
+        }
+    }
+
+    pub fn wheel_engine_force(&self, i: usize) -> Option<Real> {
+        self.controller.wheels().get(i).map(|w| w.engine_force)
+    }
+    pub fn set_wheel_engine_force(&mut self, i: usize, value: Real) {
+        if let Some(wheel) = self.controller.wheels_mut().get_mut(i) {
+            wheel.engine_force = value;
+        }
+    }
+
+    pub fn wheel_direction_cs(&self, i: usize) -> Option<RawVector> {
+        self.controller
+            .wheels()
+            .get(i)
+            .map(|w| w.direction_cs.into())
+    }
+    pub fn set_wheel_direction_cs(&mut self, i: usize, value: &RawVector) {
+        if let Some(wheel) = self.controller.wheels_mut().get_mut(i) {
+            wheel.direction_cs = value.0;
+        }
+    }
+
+    pub fn wheel_axle_cs(&self, i: usize) -> Option<RawVector> {
+        self.controller.wheels().get(i).map(|w| w.axle_cs.into())
+    }
+    pub fn set_wheel_axle_cs(&mut self, i: usize, value: &RawVector) {
+        if let Some(wheel) = self.controller.wheels_mut().get_mut(i) {
+            wheel.axle_cs = value.0;
+        }
+    }
+
+    pub fn wheel_friction_slip(&self, i: usize) -> Option<Real> {
+        self.controller.wheels().get(i).map(|w| w.friction_slip)
+    }
+    pub fn set_wheel_friction_slip(&mut self, i: usize, value: Real) {
+        if let Some(wheel) = self.controller.wheels_mut().get_mut(i) {
+            wheel.friction_slip = value;
+        }
+    }
+
+    pub fn wheel_side_friction_stiffness(&self, i: usize) -> Option<f32> {
+        self.controller
+            .wheels()
+            .get(i)
+            .map(|w| w.side_friction_stiffness)
+    }
+
+    pub fn set_wheel_side_friction_stiffness(&mut self, i: usize, stiffness: f32) {
+        if let Some(wheel) = self.controller.wheels_mut().get_mut(i) {
+            wheel.side_friction_stiffness = stiffness;
+        }
+    }
+
+    /*
+     * Getters only.
+     */
+    pub fn wheel_rotation(&self, i: usize) -> Option<Real> {
+        self.controller.wheels().get(i).map(|w| w.rotation)
+    }
+
+    pub fn wheel_forward_impulse(&self, i: usize) -> Option<Real> {
+        self.controller.wheels().get(i).map(|w| w.forward_impulse)
+    }
+
+    pub fn wheel_side_impulse(&self, i: usize) -> Option<Real> {
+        self.controller.wheels().get(i).map(|w| w.side_impulse)
+    }
+
+    pub fn wheel_suspension_force(&self, i: usize) -> Option<Real> {
+        self.controller
+            .wheels()
+            .get(i)
+            .map(|w| w.wheel_suspension_force)
+    }
+
+    pub fn wheel_contact_normal_ws(&self, i: usize) -> Option<RawVector> {
+        self.controller
+            .wheels()
+            .get(i)
+            .map(|w| w.raycast_info().contact_normal_ws.into())
+    }
+
+    pub fn wheel_contact_point_ws(&self, i: usize) -> Option<RawVector> {
+        self.controller
+            .wheels()
+            .get(i)
+            .map(|w| w.raycast_info().contact_point_ws.into())
+    }
+
+    pub fn wheel_suspension_length(&self, i: usize) -> Option<Real> {
+        self.controller
+            .wheels()
+            .get(i)
+            .map(|w| w.raycast_info().suspension_length)
+    }
+
+    pub fn wheel_hard_point_ws(&self, i: usize) -> Option<RawVector> {
+        self.controller
+            .wheels()
+            .get(i)
+            .map(|w| w.raycast_info().hard_point_ws.into())
+    }
+
+    pub fn wheel_is_in_contact(&self, i: usize) -> bool {
+        self.controller
+            .wheels()
+            .get(i)
+            .map(|w| w.raycast_info().is_in_contact)
+            .unwrap_or(false)
+    }
+
+    pub fn wheel_ground_object(&self, i: usize) -> Option<FlatHandle> {
+        self.controller
+            .wheels()
+            .get(i)
+            .and_then(|w| w.raycast_info().ground_object)
+            .map(|h| utils::flat_handle(h.0))
+    }
+}
diff --git a/thirdparty/rapier.js/src/dynamics/ccd_solver.rs b/thirdparty/rapier.js/src/dynamics/ccd_solver.rs
new file mode 100644
index 00000000..4c8b54f8
--- /dev/null
+++ b/thirdparty/rapier.js/src/dynamics/ccd_solver.rs
@@ -0,0 +1,13 @@
+use rapier::dynamics::CCDSolver;
+use wasm_bindgen::prelude::*;
+
+#[wasm_bindgen]
+pub struct RawCCDSolver(pub(crate) CCDSolver);
+
+#[wasm_bindgen]
+impl RawCCDSolver {
+    #[wasm_bindgen(constructor)]
+    pub fn new() -> Self {
+        RawCCDSolver(CCDSolver::new())
+    }
+}
diff --git a/thirdparty/rapier.js/src/dynamics/impulse_joint.rs b/thirdparty/rapier.js/src/dynamics/impulse_joint.rs
new file mode 100644
index 00000000..bfbdf128
--- /dev/null
+++ b/thirdparty/rapier.js/src/dynamics/impulse_joint.rs
@@ -0,0 +1,215 @@
+use crate::dynamics::{RawImpulseJointSet, RawJointAxis, RawJointType, RawMotorModel};
+use crate::math::{RawRotation, RawVector};
+use crate::utils::{self, FlatHandle};
+use rapier::dynamics::JointAxis;
+use wasm_bindgen::prelude::*;
+
+#[wasm_bindgen]
+impl RawImpulseJointSet {
+    /// The type of this joint.
+    pub fn jointType(&self, handle: FlatHandle) -> RawJointType {
+        self.map(handle, |j| j.data.locked_axes.into())
+    }
+
+    /// The unique integer identifier of the first rigid-body this joint it attached to.
+    pub fn jointBodyHandle1(&self, handle: FlatHandle) -> FlatHandle {
+        self.map(handle, |j| utils::flat_handle(j.body1.0))
+    }
+
+    /// The unique integer identifier of the second rigid-body this joint is attached to.
+    pub fn jointBodyHandle2(&self, handle: FlatHandle) -> FlatHandle {
+        self.map(handle, |j| utils::flat_handle(j.body2.0))
+    }
+
+    /// The angular part of the joint’s local frame relative to the first rigid-body it is attached to.
+    pub fn jointFrameX1(&self, handle: FlatHandle) -> RawRotation {
+        self.map(handle, |j| j.data.local_frame1.rotation.into())
+    }
+
+    /// The angular part of the joint’s local frame relative to the second rigid-body it is attached to.
+    pub fn jointFrameX2(&self, handle: FlatHandle) -> RawRotation {
+        self.map(handle, |j| j.data.local_frame2.rotation.into())
+    }
+
+    /// The position of the first anchor of this joint.
+    ///
+    /// The first anchor gives the position of the points application point on the
+    /// local frame of the first rigid-body it is attached to.
+    pub fn jointAnchor1(&self, handle: FlatHandle) -> RawVector {
+        self.map(handle, |j| j.data.local_frame1.translation.vector.into())
+    }
+
+    /// The position of the second anchor of this joint.
+    ///
+    /// The second anchor gives the position of the points application point on the
+    /// local frame of the second rigid-body it is attached to.
+    pub fn jointAnchor2(&self, handle: FlatHandle) -> RawVector {
+        self.map(handle, |j| j.data.local_frame2.translation.vector.into())
+    }
+
+    /// Sets the position of the first local anchor
+    pub fn jointSetAnchor1(&mut self, handle: FlatHandle, newPos: &RawVector) {
+        self.map_mut(handle, |j| {
+            j.data.set_local_anchor1(newPos.0.into());
+        });
+    }
+
+    /// Sets the position of the second local anchor
+    pub fn jointSetAnchor2(&mut self, handle: FlatHandle, newPos: &RawVector) {
+        self.map_mut(handle, |j| {
+            j.data.set_local_anchor2(newPos.0.into());
+        })
+    }
+
+    /// Are contacts between the rigid-bodies attached by this joint enabled?
+    pub fn jointContactsEnabled(&self, handle: FlatHandle) -> bool {
+        self.map(handle, |j| j.data.contacts_enabled)
+    }
+
+    /// Sets whether contacts are enabled between the rigid-bodies attached by this joint.
+    pub fn jointSetContactsEnabled(&mut self, handle: FlatHandle, enabled: bool) {
+        self.map_mut(handle, |j| {
+            j.data.contacts_enabled = enabled;
+        });
+    }
+
+    /// Are the limits for this joint enabled?
+    pub fn jointLimitsEnabled(&self, handle: FlatHandle, axis: RawJointAxis) -> bool {
+        self.map(handle, |j| {
+            j.data.limit_axes.contains(JointAxis::from(axis).into())
+        })
+    }
+
+    /// Return the lower limit along the given joint axis.
+    pub fn jointLimitsMin(&self, handle: FlatHandle, axis: RawJointAxis) -> f32 {
+        self.map(handle, |j| j.data.limits[axis as usize].min)
+    }
+
+    /// If this is a prismatic joint, returns its upper limit.
+    pub fn jointLimitsMax(&self, handle: FlatHandle, axis: RawJointAxis) -> f32 {
+        self.map(handle, |j| j.data.limits[axis as usize].max)
+    }
+
+    /// Enables and sets the joint limits
+    pub fn jointSetLimits(&mut self, handle: FlatHandle, axis: RawJointAxis, min: f32, max: f32) {
+        self.map_mut(handle, |j| {
+            j.data.set_limits(axis.into(), [min, max]);
+        });
+    }
+
+    pub fn jointConfigureMotorModel(
+        &mut self,
+        handle: FlatHandle,
+        axis: RawJointAxis,
+        model: RawMotorModel,
+    ) {
+        self.map_mut(handle, |j| {
+            j.data.motors[axis as usize].model = model.into()
+        })
+    }
+
+    /*
+    #[cfg(feature = "dim3")]
+    pub fn jointConfigureBallMotorVelocity(
+        &mut self,
+        handle: FlatHandle,
+        vx: f32,
+        vy: f32,
+        vz: f32,
+        factor: f32,
+    ) {
+        let targetVel = Vector3::new(vx, vy, vz);
+
+        self.map_mut(handle, |j| match &mut j.params {
+            JointData::SphericalJoint(j) => j.configure_motor_velocity(targetVel, factor),
+            _ => {}
+        })
+    }
+
+    #[cfg(feature = "dim3")]
+    pub fn jointConfigureBallMotorPosition(
+        &mut self,
+        handle: FlatHandle,
+        qw: f32,
+        qx: f32,
+        qy: f32,
+        qz: f32,
+        stiffness: f32,
+        damping: f32,
+    ) {
+        let quat = Quaternion::new(qw, qx, qy, qz);
+
+        self.map_mut(handle, |j| match &mut j.params {
+            JointData::SphericalJoint(j) => {
+                if let Some(unit_quat) = UnitQuaternion::try_new(quat, 1.0e-5) {
+                    j.configure_motor_position(unit_quat, stiffness, damping)
+                }
+            }
+            _ => {}
+        })
+    }
+
+    #[cfg(feature = "dim3")]
+    pub fn jointConfigureBallMotor(
+        &mut self,
+        handle: FlatHandle,
+        qw: f32,
+        qx: f32,
+        qy: f32,
+        qz: f32,
+        vx: f32,
+        vy: f32,
+        vz: f32,
+        stiffness: f32,
+        damping: f32,
+    ) {
+        let quat = Quaternion::new(qw, qx, qy, qz);
+        let vel = Vector3::new(vx, vy, vz);
+
+        self.map_mut(handle, |j| match &mut j.params {
+            JointData::SphericalJoint(j) => {
+                if let Some(unit_quat) = UnitQuaternion::try_new(quat, 1.0e-5) {
+                    j.configure_motor(unit_quat, vel, stiffness, damping)
+                }
+            }
+            _ => {}
+        })
+    }
+    */
+
+    pub fn jointConfigureMotorVelocity(
+        &mut self,
+        handle: FlatHandle,
+        axis: RawJointAxis,
+        targetVel: f32,
+        factor: f32,
+    ) {
+        self.jointConfigureMotor(handle, axis, 0.0, targetVel, 0.0, factor)
+    }
+
+    pub fn jointConfigureMotorPosition(
+        &mut self,
+        handle: FlatHandle,
+        axis: RawJointAxis,
+        targetPos: f32,
+        stiffness: f32,
+        damping: f32,
+    ) {
+        self.jointConfigureMotor(handle, axis, targetPos, 0.0, stiffness, damping)
+    }
+
+    pub fn jointConfigureMotor(
+        &mut self,
+        handle: FlatHandle,
+        axis: RawJointAxis,
+        targetPos: f32,
+        targetVel: f32,
+        stiffness: f32,
+        damping: f32,
+    ) {
+        self.map_mut(handle, |j| {
+            j.data
+                .set_motor(axis.into(), targetPos, targetVel, stiffness, damping);
+        })
+    }
+}
diff --git a/thirdparty/rapier.js/src/dynamics/impulse_joint_set.rs b/thirdparty/rapier.js/src/dynamics/impulse_joint_set.rs
new file mode 100644
index 00000000..b7ba1bf0
--- /dev/null
+++ b/thirdparty/rapier.js/src/dynamics/impulse_joint_set.rs
@@ -0,0 +1,92 @@
+use crate::dynamics::RawGenericJoint;
+use crate::utils::{self, FlatHandle};
+use rapier::dynamics::{ImpulseJoint, ImpulseJointSet};
+use wasm_bindgen::prelude::*;
+
+#[wasm_bindgen]
+pub struct RawImpulseJointSet(pub(crate) ImpulseJointSet);
+
+impl RawImpulseJointSet {
+    pub(crate) fn map<T>(&self, handle: FlatHandle, f: impl FnOnce(&ImpulseJoint) -> T) -> T {
+        let body = self.0.get(utils::impulse_joint_handle(handle)).expect(
+            "Invalid ImpulseJoint reference. It may have been removed from the physics World.",
+        );
+        f(body)
+    }
+
+    pub(crate) fn map_mut<T>(
+        &mut self,
+        handle: FlatHandle,
+        f: impl FnOnce(&mut ImpulseJoint) -> T,
+    ) -> T {
+        let body = self
+            .0
+            .get_mut(utils::impulse_joint_handle(handle), true)
+            .expect(
+                "Invalid ImpulseJoint reference. It may have been removed from the physics World.",
+            );
+        f(body)
+    }
+}
+
+#[wasm_bindgen]
+impl RawImpulseJointSet {
+    #[wasm_bindgen(constructor)]
+    pub fn new() -> Self {
+        RawImpulseJointSet(ImpulseJointSet::new())
+    }
+
+    pub fn createJoint(
+        &mut self,
+        params: &RawGenericJoint,
+        parent1: FlatHandle,
+        parent2: FlatHandle,
+        wake_up: bool,
+    ) -> FlatHandle {
+        utils::flat_handle(
+            self.0
+                .insert(
+                    utils::body_handle(parent1),
+                    utils::body_handle(parent2),
+                    params.0.clone(),
+                    wake_up,
+                )
+                .0,
+        )
+    }
+
+    pub fn remove(&mut self, handle: FlatHandle, wakeUp: bool) {
+        let handle = utils::impulse_joint_handle(handle);
+        self.0.remove(handle, wakeUp);
+    }
+
+    pub fn len(&self) -> usize {
+        self.0.len()
+    }
+
+    pub fn contains(&self, handle: FlatHandle) -> bool {
+        self.0.get(utils::impulse_joint_handle(handle)).is_some()
+    }
+
+    /// Applies the given JavaScript function to the integer handle of each joint managed by this physics world.
+    ///
+    /// # Parameters
+    /// - `f(handle)`: the function to apply to the integer handle of each joint managed by this set. Called as `f(collider)`.
+    pub fn forEachJointHandle(&self, f: &js_sys::Function) {
+        let this = JsValue::null();
+        for (handle, _) in self.0.iter() {
+            let _ = f.call1(&this, &JsValue::from(utils::flat_handle(handle.0)));
+        }
+    }
+
+    /// Applies the given JavaScript function to the integer handle of each joint attached to the given rigid-body.
+    ///
+    /// # Parameters
+    /// - `f(handle)`: the function to apply to the integer handle of each joint attached to the rigid-body. Called as `f(collider)`.
+    pub fn forEachJointAttachedToRigidBody(&self, body: FlatHandle, f: &js_sys::Function) {
+        let this = JsValue::null();
+        for (_, _, handle, _) in self.0.attached_joints(utils::body_handle(body)) {
+            let _ = f.call1(&this, &JsValue::from(utils::flat_handle(handle.0)));
+        }
+    }
+}
diff --git a/thirdparty/rapier.js/src/dynamics/integration_parameters.rs b/thirdparty/rapier.js/src/dynamics/integration_parameters.rs
new file mode 100644
index 00000000..b273e057
--- /dev/null
+++ b/thirdparty/rapier.js/src/dynamics/integration_parameters.rs
@@ -0,0 +1,101 @@
+use rapier::dynamics::IntegrationParameters;
+use wasm_bindgen::prelude::*;
+
+#[wasm_bindgen]
+pub struct RawIntegrationParameters(pub(crate) IntegrationParameters);
+
+#[wasm_bindgen]
+impl RawIntegrationParameters {
+    #[wasm_bindgen(constructor)]
+    pub fn new() -> Self {
+        RawIntegrationParameters(IntegrationParameters::default())
+    }
+
+    #[wasm_bindgen(getter)]
+    pub fn dt(&self) -> f32 {
+        self.0.dt
+    }
+
+    #[wasm_bindgen(getter)]
+    pub fn contact_erp(&self) -> f32 {
+        self.0.contact_erp()
+    }
+
+    #[wasm_bindgen(getter)]
+    pub fn normalizedAllowedLinearError(&self) -> f32 {
+        self.0.normalized_allowed_linear_error
+    }
+
+    #[wasm_bindgen(getter)]
+    pub fn normalizedPredictionDistance(&self) -> f32 {
+        self.0.normalized_prediction_distance
+    }
+
+    #[wasm_bindgen(getter)]
+    pub fn numSolverIterations(&self) -> usize {
+        self.0.num_solver_iterations
+    }
+
+    #[wasm_bindgen(getter)]
+    pub fn numInternalPgsIterations(&self) -> usize {
+        self.0.num_internal_pgs_iterations
+    }
+
+    #[wasm_bindgen(getter)]
+    pub fn minIslandSize(&self) -> usize {
+        self.0.min_island_size
+    }
+
+    #[wasm_bindgen(getter)]
+    pub fn maxCcdSubsteps(&self) -> usize {
+        self.0.max_ccd_substeps
+    }
+
+    #[wasm_bindgen(getter)]
+    pub fn lengthUnit(&self) -> f32 {
+        self.0.length_unit
+    }
+
+    #[wasm_bindgen(setter)]
+    pub fn set_dt(&mut self, value: f32) {
+        self.0.dt = value;
+    }
+
+    #[wasm_bindgen(setter)]
+    pub fn set_contact_natural_frequency(&mut self, value: f32) {
+        self.0.contact_natural_frequency = value
+    }
+
+    #[wasm_bindgen(setter)]
+    pub fn set_normalizedAllowedLinearError(&mut self, value: f32) {
+        self.0.normalized_allowed_linear_error = value
+    }
+
+    #[wasm_bindgen(setter)]
+    pub fn set_normalizedPredictionDistance(&mut self, value: f32) {
+        self.0.normalized_prediction_distance = value
+    }
+
+    #[wasm_bindgen(setter)]
+    pub fn set_numSolverIterations(&mut self, value: usize) {
+        self.0.num_solver_iterations = value;
+    }
+    #[wasm_bindgen(setter)]
+    pub fn set_numInternalPgsIterations(&mut self, value: usize) {
+        self.0.num_internal_pgs_iterations = value;
+    }
+    #[wasm_bindgen(setter)]
+    pub fn set_minIslandSize(&mut self, value: usize) {
+        self.0.min_island_size = value
+    }
+
+    #[wasm_bindgen(setter)]
+    pub fn set_maxCcdSubsteps(&mut self, value: usize) {
+        self.0.max_ccd_substeps = value
+    }
+
+    #[wasm_bindgen(setter)]
+    pub fn set_lengthUnit(&mut self, value: f32) {
+        self.0.length_unit = value
+    }
+}
diff --git a/thirdparty/rapier.js/src/dynamics/island_manager.rs b/thirdparty/rapier.js/src/dynamics/island_manager.rs
new file mode 100644
index 00000000..7b4cfae6
--- /dev/null
+++ b/thirdparty/rapier.js/src/dynamics/island_manager.rs
@@ -0,0 +1,31 @@
+use crate::utils;
+use rapier::dynamics::IslandManager;
+use wasm_bindgen::prelude::*;
+
+#[wasm_bindgen]
+pub struct RawIslandManager(pub(crate) IslandManager);
+
+#[wasm_bindgen]
+impl RawIslandManager {
+    #[wasm_bindgen(constructor)]
+    pub fn new() -> Self {
+        RawIslandManager(IslandManager::new())
+    }
+
+    /// Applies the given JavaScript function to the integer handle of each active rigid-body
+    /// managed by this island manager.
+    ///
+    /// After a short time of inactivity, a rigid-body is automatically deactivated ("asleep") by
+    /// the physics engine in order to save computational power. A sleeping rigid-body never moves
+    /// unless it is moved manually by the user.
+    ///
+    /// # Parameters
+    /// - `f(handle)`: the function to apply to the integer handle of each active rigid-body managed by this
+    ///   set. Called as `f(collider)`.
+    pub fn forEachActiveRigidBodyHandle(&self, f: &js_sys::Function) {
+        let this = JsValue::null();
+        for handle in self.0.active_bodies() {
+            let _ = f.call1(&this, &JsValue::from(utils::flat_handle(handle.0)));
+        }
+    }
+}
diff --git a/thirdparty/rapier.js/src/dynamics/joint.rs b/thirdparty/rapier.js/src/dynamics/joint.rs
new file mode 100644
index 00000000..74ab2b3d
--- /dev/null
+++ b/thirdparty/rapier.js/src/dynamics/joint.rs
@@ -0,0 +1,314 @@
+use crate::math::{RawRotation, RawVector};
+use na::Unit;
+use rapier::dynamics::{
+    FixedJointBuilder, GenericJoint, JointAxesMask, JointAxis, MotorModel, PrismaticJointBuilder,
+    RevoluteJointBuilder, RopeJointBuilder, SpringJointBuilder,
+};
+#[cfg(feature = "dim3")]
+use rapier::dynamics::{GenericJointBuilder, SphericalJointBuilder};
+use rapier::math::Isometry;
+use wasm_bindgen::prelude::*;
+
+#[wasm_bindgen]
+#[cfg(feature = "dim2")]
+pub enum RawJointType {
+    Revolute,
+    Fixed,
+    Prismatic,
+    Rope,
+    Spring,
+    Generic,
+}
+
+#[wasm_bindgen]
+#[cfg(feature = "dim3")]
+pub enum RawJointType {
+    Revolute,
+    Fixed,
+    Prismatic,
+    Rope,
+    Spring,
+    Spherical,
+    Generic,
+}
+
+/// The type of this joint.
+#[cfg(feature = "dim2")]
+impl From<JointAxesMask> for RawJointType {
+    fn from(ty: JointAxesMask) -> RawJointType {
+        let rev_axes = JointAxesMask::LIN_X | JointAxesMask::LIN_Y;
+        let pri_axes = JointAxesMask::LIN_Y | JointAxesMask::ANG_X;
+        let fix_axes = JointAxesMask::LIN_X | JointAxesMask::LIN_Y | JointAxesMask::ANG_X;
+
+        if ty == rev_axes {
+            RawJointType::Revolute
+        } else if ty == pri_axes {
+            RawJointType::Prismatic
+        } else if ty == fix_axes {
+            RawJointType::Fixed
+        } else {
+            RawJointType::Generic
+        }
+    }
+}
+
+/// The type of this joint.
+#[cfg(feature = "dim3")]
+impl From<JointAxesMask> for RawJointType {
+    fn from(ty: JointAxesMask) -> RawJointType {
+        let rev_axes = JointAxesMask::LIN_X
+            | JointAxesMask::LIN_Y
+            | JointAxesMask::LIN_Z
+            | JointAxesMask::ANG_Y
+            | JointAxesMask::ANG_Z;
+        let pri_axes = JointAxesMask::LIN_Y
+            | JointAxesMask::LIN_Z
+            | JointAxesMask::ANG_X
+            | JointAxesMask::ANG_Y
+            | JointAxesMask::ANG_Z;
+        let sph_axes = JointAxesMask::ANG_X | JointAxesMask::ANG_Y | JointAxesMask::ANG_Z;
+        let fix_axes = JointAxesMask::LIN_X
+            | JointAxesMask::LIN_Y
+            | JointAxesMask::LIN_Z
+            | JointAxesMask::ANG_X
+            | JointAxesMask::ANG_Y
+            | JointAxesMask::ANG_Z;
+
+        if ty == rev_axes {
+            RawJointType::Revolute
+        } else if ty == pri_axes {
+            RawJointType::Prismatic
+        } else if ty == sph_axes {
+            RawJointType::Spherical
+        } else if ty == fix_axes {
+            RawJointType::Fixed
+        } else {
+            RawJointType::Generic
+        }
+    }
+}
+
+#[wasm_bindgen]
+pub enum RawMotorModel {
+    AccelerationBased,
+    ForceBased,
+}
+
+impl From<RawMotorModel> for MotorModel {
+    fn from(model: RawMotorModel) -> MotorModel {
+        match model {
+            RawMotorModel::AccelerationBased => MotorModel::AccelerationBased,
+            RawMotorModel::ForceBased => MotorModel::ForceBased,
+        }
+    }
+}
+
+#[cfg(feature = "dim2")]
+#[wasm_bindgen]
+#[derive(Copy, Clone)]
+pub enum RawJointAxis {
+    LinX,
+    LinY,
+    AngX,
+}
+
+#[cfg(feature = "dim3")]
+#[wasm_bindgen]
+#[derive(Copy, Clone)]
+pub enum RawJointAxis {
+    LinX,
+    LinY,
+    LinZ,
+    AngX,
+    AngY,
+    AngZ,
+}
+
+impl From<RawJointAxis> for JointAxis {
+    fn from(axis: RawJointAxis) -> JointAxis {
+        match axis {
+            RawJointAxis::LinX => JointAxis::LinX,
+            RawJointAxis::LinY => JointAxis::LinY,
+            #[cfg(feature = "dim3")]
+            RawJointAxis::LinZ => JointAxis::LinZ,
+            RawJointAxis::AngX => JointAxis::AngX,
+            #[cfg(feature = "dim3")]
+            RawJointAxis::AngY => JointAxis::AngY,
+            #[cfg(feature = "dim3")]
+            RawJointAxis::AngZ => JointAxis::AngZ,
+        }
+    }
+}
+
+#[wasm_bindgen]
+pub struct RawGenericJoint(pub(crate) GenericJoint);
+
+#[wasm_bindgen]
+impl RawGenericJoint {
+    /// Creates a new joint descriptor that builds generic joints.
+    ///
+    /// Generic joints allow arbitrary axes of freedom to be selected
+    /// for the joint from the available 6 degrees of freedom.
+    #[cfg(feature = "dim3")]
+    pub fn generic(
+        anchor1: &RawVector,
+        anchor2: &RawVector,
+        axis: &RawVector,
+        lockedAxes: u8,
+    ) -> Option<RawGenericJoint> {
+        let axesMask: JointAxesMask = JointAxesMask::from_bits(lockedAxes)?;
+        let axis = Unit::try_new(axis.0, 0.0)?;
+        let joint: GenericJoint = GenericJointBuilder::new(axesMask)
+            .local_anchor1(anchor1.0.into())
+            .local_anchor2(anchor2.0.into())
+            .local_axis1(axis)
+            .local_axis2(axis)
+            .into();
+        Some(Self(joint))
+    }
+
+    pub fn spring(
+        rest_length: f32,
+        stiffness: f32,
+        damping: f32,
+        anchor1: &RawVector,
+        anchor2: &RawVector,
+    ) -> Self {
+        Self(
+            SpringJointBuilder::new(rest_length, stiffness, damping)
+                .local_anchor1(anchor1.0.into())
+                .local_anchor2(anchor2.0.into())
+                .into(),
+        )
+    }
+
+    pub fn rope(length: f32, anchor1: &RawVector, anchor2: &RawVector) -> Self {
+        Self(
+            RopeJointBuilder::new(length)
+                .local_anchor1(anchor1.0.into())
+                .local_anchor2(anchor2.0.into())
+                .into(),
+        )
+    }
+
+    /// Create a new joint descriptor that builds spherical joints.
+    ///
+    /// A spherical joints allows three relative rotational degrees of freedom
+    /// by preventing any relative translation between the anchors of the
+    /// two attached rigid-bodies.
+    #[cfg(feature = "dim3")]
+    pub fn spherical(anchor1: &RawVector, anchor2: &RawVector) -> Self {
+        Self(
+            SphericalJointBuilder::new()
+                .local_anchor1(anchor1.0.into())
+                .local_anchor2(anchor2.0.into())
+                .into(),
+        )
+    }
+
+    /// Creates a new joint descriptor that builds a Prismatic joint.
+    ///
+    /// A prismatic joint removes all the degrees of freedom between the
+    /// affected bodies, except for the translation along one axis.
+    ///
+    /// Returns `None` if any of the provided axes cannot be normalized.
+    #[cfg(feature = "dim2")]
+    pub fn prismatic(
+        anchor1: &RawVector,
+        anchor2: &RawVector,
+        axis: &RawVector,
+        limitsEnabled: bool,
+        limitsMin: f32,
+        limitsMax: f32,
+    ) -> Option<RawGenericJoint> {
+        let axis = Unit::try_new(axis.0, 0.0)?;
+        let mut joint = PrismaticJointBuilder::new(axis)
+            .local_anchor1(anchor1.0.into())
+            .local_anchor2(anchor2.0.into());
+
+        if limitsEnabled {
+            joint = joint.limits([limitsMin, limitsMax]);
+        }
+
+        Some(Self(joint.into()))
+    }
+
+    /// Creates a new joint descriptor that builds a Prismatic joint.
+    ///
+    /// A prismatic joint removes all the degrees of freedom between the
+    /// affected bodies, except for the translation along one axis.
+    ///
+    /// Returns `None` if any of the provided axes cannot be normalized.
+    #[cfg(feature = "dim3")]
+    pub fn prismatic(
+        anchor1: &RawVector,
+        anchor2: &RawVector,
+        axis: &RawVector,
+        limitsEnabled: bool,
+        limitsMin: f32,
+        limitsMax: f32,
+    ) -> Option<RawGenericJoint> {
+        let axis = Unit::try_new(axis.0, 0.0)?;
+        let mut joint = PrismaticJointBuilder::new(axis)
+            .local_anchor1(anchor1.0.into())
+            .local_anchor2(anchor2.0.into());
+
+        if limitsEnabled {
+            joint = joint.limits([limitsMin, limitsMax]);
+        }
+
+        Some(Self(joint.into()))
+    }
+
+    /// Creates a new joint descriptor that builds a Fixed joint.
+    ///
+    /// A fixed joint removes all the degrees of freedom between the affected bodies.
+    pub fn fixed(
+        anchor1: &RawVector,
+        axes1: &RawRotation,
+        anchor2: &RawVector,
+        axes2: &RawRotation,
+    ) -> RawGenericJoint {
+        let pos1 = Isometry::from_parts(anchor1.0.into(), axes1.0);
+        let pos2 = Isometry::from_parts(anchor2.0.into(), axes2.0);
+        Self(
+            FixedJointBuilder::new()
+                .local_frame1(pos1)
+                .local_frame2(pos2)
+                .into(),
+        )
+    }
+
+    /// Create a new joint descriptor that builds Revolute joints.
+    ///
+    /// A revolute joint removes all degrees of freedom between the affected
+    /// bodies except for the rotation.
+    #[cfg(feature = "dim2")]
+    pub fn revolute(anchor1: &RawVector, anchor2: &RawVector) -> Option<RawGenericJoint> {
+        Some(Self(
+            RevoluteJointBuilder::new()
+                .local_anchor1(anchor1.0.into())
+                .local_anchor2(anchor2.0.into())
+                .into(),
+        ))
+    }
+
+    /// Create a new joint descriptor that builds Revolute joints.
+    ///
+    /// A revolute joint removes all degrees of freedom between the affected
+    /// bodies except for the rotation along one axis.
+    #[cfg(feature = "dim3")]
+    pub fn revolute(
+        anchor1: &RawVector,
+        anchor2: &RawVector,
+        axis: &RawVector,
+    ) -> Option<RawGenericJoint> {
+        let axis = Unit::try_new(axis.0, 0.0)?;
+        Some(Self(
+            RevoluteJointBuilder::new(axis)
+                .local_anchor1(anchor1.0.into())
+                .local_anchor2(anchor2.0.into())
+                .into(),
+        ))
+    }
+}
diff --git a/thirdparty/rapier.js/src/dynamics/mod.rs b/thirdparty/rapier.js/src/dynamics/mod.rs
new file mode 100644
index 00000000..36cc7eaa
--- /dev/null
+++ b/thirdparty/rapier.js/src/dynamics/mod.rs
@@ -0,0 +1,20 @@
+//! Structures related to dynamics: bodies, joints, etc.
+
+pub use self::ccd_solver::*;
+pub use self::impulse_joint_set::*;
+pub use self::integration_parameters::*;
+pub use self::island_manager::*;
+pub use self::joint::*;
+pub use self::multibody_joint_set::*;
+pub use self::rigid_body_set::*;
+
+mod ccd_solver;
+mod impulse_joint;
+mod impulse_joint_set;
+mod integration_parameters;
+mod island_manager;
+mod joint;
+mod multibody_joint;
+mod multibody_joint_set;
+mod rigid_body;
+mod rigid_body_set;
diff --git a/thirdparty/rapier.js/src/dynamics/multibody_joint.rs b/thirdparty/rapier.js/src/dynamics/multibody_joint.rs
new file mode 100644
index 00000000..ff6e816e
--- /dev/null
+++ b/thirdparty/rapier.js/src/dynamics/multibody_joint.rs
@@ -0,0 +1,196 @@
+use crate::dynamics::{RawJointAxis, RawJointType, RawMultibodyJointSet};
+use crate::math::{RawRotation, RawVector};
+use crate::utils::FlatHandle;
+use rapier::dynamics::JointAxis;
+use wasm_bindgen::prelude::*;
+
+#[wasm_bindgen]
+impl RawMultibodyJointSet {
+    /// The type of this joint.
+    pub fn jointType(&self, handle: FlatHandle) -> RawJointType {
+        self.map(handle, |j| j.data.locked_axes.into())
+    }
+
+    // /// The unique integer identifier of the first rigid-body this joint it attached to.
+    // pub fn jointBodyHandle1(&self, handle: FlatHandle) -> u32 {
+    //     self.map(handle, |j| j.body1.into_raw_parts().0)
+    // }
+    //
+    // /// The unique integer identifier of the second rigid-body this joint is attached to.
+    // pub fn jointBodyHandle2(&self, handle: FlatHandle) -> u32 {
+    //     self.map(handle, |j| j.body2.into_raw_parts().0)
+    // }
+
+    /// The angular part of the joint’s local frame relative to the first rigid-body it is attached to.
+    pub fn jointFrameX1(&self, handle: FlatHandle) -> RawRotation {
+        self.map(handle, |j| j.data.local_frame1.rotation.into())
+    }
+
+    /// The angular part of the joint’s local frame relative to the second rigid-body it is attached to.
+    pub fn jointFrameX2(&self, handle: FlatHandle) -> RawRotation {
+        self.map(handle, |j| j.data.local_frame2.rotation.into())
+    }
+
+    /// The position of the first anchor of this joint.
+    ///
+    /// The first anchor gives the position of the points application point on the
+    /// local frame of the first rigid-body it is attached to.
+    pub fn jointAnchor1(&self, handle: FlatHandle) -> RawVector {
+        self.map(handle, |j| j.data.local_frame1.translation.vector.into())
+    }
+
+    /// The position of the second anchor of this joint.
+    ///
+    /// The second anchor gives the position of the points application point on the
+    /// local frame of the second rigid-body it is attached to.
+    pub fn jointAnchor2(&self, handle: FlatHandle) -> RawVector {
+        self.map(handle, |j| j.data.local_frame2.translation.vector.into())
+    }
+
+    /// Are contacts between the rigid-bodies attached by this joint enabled?
+    pub fn jointContactsEnabled(&self, handle: FlatHandle) -> bool {
+        self.map(handle, |j| j.data.contacts_enabled)
+    }
+
+    /// Sets whether contacts are enabled between the rigid-bodies attached by this joint.
+    pub fn jointSetContactsEnabled(&mut self, handle: FlatHandle, enabled: bool) {
+        self.map_mut(handle, |j| {
+            j.data.contacts_enabled = enabled;
+        });
+    }
+
+    /// Are the limits for this joint enabled?
+    pub fn jointLimitsEnabled(&self, handle: FlatHandle, axis: RawJointAxis) -> bool {
+        self.map(handle, |j| {
+            j.data.limit_axes.contains(JointAxis::from(axis).into())
+        })
+    }
+
+    /// Return the lower limit along the given joint axis.
+    pub fn jointLimitsMin(&self, handle: FlatHandle, axis: RawJointAxis) -> f32 {
+        self.map(handle, |j| j.data.limits[axis as usize].min)
+    }
+
+    /// If this is a prismatic joint, returns its upper limit.
+    pub fn jointLimitsMax(&self, handle: FlatHandle, axis: RawJointAxis) -> f32 {
+        self.map(handle, |j| j.data.limits[axis as usize].max)
+    }
+
+    // pub fn jointConfigureMotorModel(
+    //     &mut self,
+    //     handle: FlatHandle,
+    //     axis: RawJointAxis,
+    //     model: RawMotorModel,
+    // ) {
+    //     self.map_mut(handle, |j| {
+    //         j.data.motors[axis as usize].model = model.into()
+    //     })
+    // }
+
+    /*
+    #[cfg(feature = "dim3")]
+    pub fn jointConfigureBallMotorVelocity(
+        &mut self,
+        handle: FlatHandle,
+        vx: f32,
+        vy: f32,
+        vz: f32,
+        factor: f32,
+    ) {
+        let targetVel = Vector3::new(vx, vy, vz);
+
+        self.map_mut(handle, |j| match &mut j.params {
+            JointData::SphericalJoint(j) => j.configure_motor_velocity(targetVel, factor),
+            _ => {}
+        })
+    }
+
+    #[cfg(feature = "dim3")]
+    pub fn jointConfigureBallMotorPosition(
+        &mut self,
+        handle: FlatHandle,
+        qw: f32,
+        qx: f32,
+        qy: f32,
+        qz: f32,
+        stiffness: f32,
+        damping: f32,
+    ) {
+        let quat = Quaternion::new(qw, qx, qy, qz);
+
+        self.map_mut(handle, |j| match &mut j.params {
+            JointData::SphericalJoint(j) => {
+                if let Some(unit_quat) = UnitQuaternion::try_new(quat, 1.0e-5) {
+                    j.configure_motor_position(unit_quat, stiffness, damping)
+                }
+            }
+            _ => {}
+        })
+    }
+
+    #[cfg(feature = "dim3")]
+    pub fn jointConfigureBallMotor(
+        &mut self,
+        handle: FlatHandle,
+        qw: f32,
+        qx: f32,
+        qy: f32,
+        qz: f32,
+        vx: f32,
+        vy: f32,
+        vz: f32,
+        stiffness: f32,
+        damping: f32,
+    ) {
+        let quat = Quaternion::new(qw, qx, qy, qz);
+        let vel = Vector3::new(vx, vy, vz);
+
+        self.map_mut(handle, |j| match &mut j.params {
+            JointData::SphericalJoint(j) => {
+                if let Some(unit_quat) = UnitQuaternion::try_new(quat, 1.0e-5) {
+                    j.configure_motor(unit_quat, vel, stiffness, damping)
+                }
+            }
+            _ => {}
+        })
+    }
+    */
+
+    // pub fn jointConfigureMotorVelocity(
+    //     &mut self,
+    //     handle: FlatHandle,
+    //     axis: RawJointAxis,
+    //     targetVel: f32,
+    //     factor: f32,
+    // ) {
+    //     self.jointConfigureMotor(handle, axis, 0.0, targetVel, 0.0, factor)
+    // }
+    //
+    // pub fn jointConfigureMotorPosition(
+    //     &mut self,
+    //     handle: FlatHandle,
+    //     axis: RawJointAxis,
+    //     targetPos: f32,
+    //     stiffness: f32,
+    //     damping: f32,
+    // ) {
+    //     self.jointConfigureMotor(handle, axis, targetPos, 0.0, stiffness, damping)
+    // }
+
+    // pub fn jointConfigureMotor(
+    //     &mut self,
+    //     handle: FlatHandle,
+    //     axis: RawJointAxis,
+    //     targetPos: f32,
+    //     targetVel: f32,
+    //     stiffness: f32,
+    //     damping: f32,
+    // ) {
+    //     self.map_mut(handle, |j| {
+    //         j.data.motors[axis as usize].target_pos = targetPos;
+    //         j.data.motors[axis as usize].target_vel = targetVel;
+    //         j.data.motors[axis as usize].stiffness = stiffness;
+    //         j.data.motors[axis as usize].damping = damping;
+    //     })
+    // }
+}
diff --git a/thirdparty/rapier.js/src/dynamics/multibody_joint_set.rs b/thirdparty/rapier.js/src/dynamics/multibody_joint_set.rs
new file mode 100644
index 00000000..c7f4839e
--- /dev/null
+++ b/thirdparty/rapier.js/src/dynamics/multibody_joint_set.rs
@@ -0,0 +1,85 @@
+use crate::dynamics::RawGenericJoint;
+use crate::utils::{self, FlatHandle};
+use rapier::dynamics::{MultibodyJoint, MultibodyJointSet};
+use wasm_bindgen::prelude::*;
+
+#[wasm_bindgen]
+pub struct RawMultibodyJointSet(pub(crate) MultibodyJointSet);
+
+impl RawMultibodyJointSet {
+    pub(crate) fn map<T>(&self, handle: FlatHandle, f: impl FnOnce(&MultibodyJoint) -> T) -> T {
+        let (body, link_id) = self
+            .0
+            .get(utils::multibody_joint_handle(handle))
+            .expect("Invalid Joint reference. It may have been removed from the physics World.");
+        f(body.link(link_id).unwrap().joint())
+    }
+
+    pub(crate) fn map_mut<T>(
+        &mut self,
+        handle: FlatHandle,
+        f: impl FnOnce(&mut MultibodyJoint) -> T,
+    ) -> T {
+        let (body, link_id) = self
+            .0
+            .get_mut(utils::multibody_joint_handle(handle))
+            .expect("Invalid Joint reference. It may have been removed from the physics World.");
+        f(&mut body.link_mut(link_id).unwrap().joint)
+    }
+}
+
+#[wasm_bindgen]
+impl RawMultibodyJointSet {
+    #[wasm_bindgen(constructor)]
+    pub fn new() -> Self {
+        RawMultibodyJointSet(MultibodyJointSet::new())
+    }
+
+    pub fn createJoint(
+        &mut self,
+        params: &RawGenericJoint,
+        parent1: FlatHandle,
+        parent2: FlatHandle,
+        wakeUp: bool,
+    ) -> FlatHandle {
+        // TODO: avoid the unwrap?
+        let parent1 = utils::body_handle(parent1);
+        let parent2 = utils::body_handle(parent2);
+
+        self.0
+            .insert(parent1, parent2, params.0.clone(), wakeUp)
+            .map(|h| utils::flat_handle(h.0))
+            .unwrap_or(FlatHandle::MAX)
+    }
+
+    pub fn remove(&mut self, handle: FlatHandle, wakeUp: bool) {
+        let handle = utils::multibody_joint_handle(handle);
+        self.0.remove(handle, wakeUp);
+    }
+
+    pub fn contains(&self, handle: FlatHandle) -> bool {
+        self.0.get(utils::multibody_joint_handle(handle)).is_some()
+    }
+
+    /// Applies the given JavaScript function to the integer handle of each joint managed by this physics world.
+    ///
+    /// # Parameters
+    /// - `f(handle)`: the function to apply to the integer handle of each joint managed by this set. Called as `f(collider)`.
+    pub fn forEachJointHandle(&self, f: &js_sys::Function) {
+        let this = JsValue::null();
+        for (handle, _, _, _) in self.0.iter() {
+            let _ = f.call1(&this, &JsValue::from(utils::flat_handle(handle.0)));
+        }
+    }
+
+    /// Applies the given JavaScript function to the integer handle of each joint attached to the given rigid-body.
+    ///
+    /// # Parameters
+    /// - `f(handle)`: the function to apply to the integer handle of each joint attached to the rigid-body. Called as `f(collider)`.
+    pub fn forEachJointAttachedToRigidBody(&self, body: FlatHandle, f: &js_sys::Function) {
+        let this = JsValue::null();
+        for (_, _, handle) in self.0.attached_joints(utils::body_handle(body)) {
+            let _ = f.call1(&this, &JsValue::from(utils::flat_handle(handle.0)));
+        }
+    }
+}
diff --git a/thirdparty/rapier.js/src/dynamics/rigid_body.rs b/thirdparty/rapier.js/src/dynamics/rigid_body.rs
new file mode 100644
index 00000000..d7174d77
--- /dev/null
+++ b/thirdparty/rapier.js/src/dynamics/rigid_body.rs
@@ -0,0 +1,753 @@
+use crate::dynamics::{RawRigidBodySet, RawRigidBodyType};
+use crate::geometry::RawColliderSet;
+#[cfg(feature = "dim3")]
+use crate::math::RawSdpMatrix3;
+use crate::math::{RawRotation, RawVector};
+use crate::utils::{self, FlatHandle};
+use na::Point;
+use rapier::dynamics::MassProperties;
+use wasm_bindgen::prelude::*;
+
+#[wasm_bindgen]
+impl RawRigidBodySet {
+    /// The world-space translation of this rigid-body.
+    pub fn rbTranslation(&self, handle: FlatHandle) -> RawVector {
+        self.map(handle, |rb| RawVector(rb.position().translation.vector))
+    }
+
+    /// The world-space orientation of this rigid-body.
+    pub fn rbRotation(&self, handle: FlatHandle) -> RawRotation {
+        self.map(handle, |rb| RawRotation(rb.position().rotation))
+    }
+
+    /// Put the given rigid-body to sleep.
+    pub fn rbSleep(&mut self, handle: FlatHandle) {
+        self.map_mut(handle, |rb| rb.sleep());
+    }
+
+    /// Is this rigid-body sleeping?
+    pub fn rbIsSleeping(&self, handle: FlatHandle) -> bool {
+        self.map(handle, |rb| rb.is_sleeping())
+    }
+
+    /// Is the velocity of this rigid-body not zero?
+    pub fn rbIsMoving(&self, handle: FlatHandle) -> bool {
+        self.map(handle, |rb| rb.is_moving())
+    }
+
+    /// The world-space predicted translation of this rigid-body.
+    ///
+    /// If this rigid-body is kinematic this value is set by the `setNextKinematicTranslation`
+    /// method and is used for estimating the kinematic body velocity at the next timestep.
+    /// For non-kinematic bodies, this value is currently unspecified.
+    pub fn rbNextTranslation(&self, handle: FlatHandle) -> RawVector {
+        self.map(handle, |rb| {
+            RawVector(rb.next_position().translation.vector)
+        })
+    }
+
+    /// The world-space predicted orientation of this rigid-body.
+    ///
+    /// If this rigid-body is kinematic this value is set by the `setNextKinematicRotation`
+    /// method and is used for estimating the kinematic body velocity at the next timestep.
+    /// For non-kinematic bodies, this value is currently unspecified.
+    pub fn rbNextRotation(&self, handle: FlatHandle) -> RawRotation {
+        self.map(handle, |rb| RawRotation(rb.next_position().rotation))
+    }
+
+    /// Sets the translation of this rigid-body.
+    ///
+    /// # Parameters
+    /// - `x`: the world-space position of the rigid-body along the `x` axis.
+    /// - `y`: the world-space position of the rigid-body along the `y` axis.
+    /// - `z`: the world-space position of the rigid-body along the `z` axis.
+    /// - `wakeUp`: forces the rigid-body to wake-up so it is properly affected by forces if it
+    /// wasn't moving before modifying its position.
+    #[cfg(feature = "dim3")]
+    pub fn rbSetTranslation(&mut self, handle: FlatHandle, x: f32, y: f32, z: f32, wakeUp: bool) {
+        self.map_mut(handle, |rb| {
+            rb.set_translation(na::Vector3::new(x, y, z), wakeUp);
+        })
+    }
+
+    /// Sets the translation of this rigid-body.
+    ///
+    /// # Parameters
+    /// - `x`: the world-space position of the rigid-body along the `x` axis.
+    /// - `y`: the world-space position of the rigid-body along the `y` axis.
+    /// - `wakeUp`: forces the rigid-body to wake-up so it is properly affected by forces if it
+    /// wasn't moving before modifying its position.
+    #[cfg(feature = "dim2")]
+    pub fn rbSetTranslation(&mut self, handle: FlatHandle, x: f32, y: f32, wakeUp: bool) {
+        self.map_mut(handle, |rb| {
+            rb.set_translation(na::Vector2::new(x, y), wakeUp);
+        })
+    }
+
+    /// Sets the rotation quaternion of this rigid-body.
+    ///
+    /// This does nothing if a zero quaternion is provided.
+    ///
+    /// # Parameters
+    /// - `x`: the first vector component of the quaternion.
+    /// - `y`: the second vector component of the quaternion.
+    /// - `z`: the third vector component of the quaternion.
+    /// - `w`: the scalar component of the quaternion.
+    /// - `wakeUp`: forces the rigid-body to wake-up so it is properly affected by forces if it
+    /// wasn't moving before modifying its position.
+    #[cfg(feature = "dim3")]
+    pub fn rbSetRotation(
+        &mut self,
+        handle: FlatHandle,
+        x: f32,
+        y: f32,
+        z: f32,
+        w: f32,
+        wakeUp: bool,
+    ) {
+        if let Some(q) = na::Unit::try_new(na::Quaternion::new(w, x, y, z), 0.0) {
+            self.map_mut(handle, |rb| rb.set_rotation(q, wakeUp))
+        }
+    }
+
+    /// Sets the rotation angle of this rigid-body.
+    ///
+    /// # Parameters
+    /// - `angle`: the rotation angle, in radians.
+    /// - `wakeUp`: forces the rigid-body to wake-up so it is properly affected by forces if it
+    /// wasn't moving before modifying its position.
+    #[cfg(feature = "dim2")]
+    pub fn rbSetRotation(&mut self, handle: FlatHandle, angle: f32, wakeUp: bool) {
+        self.map_mut(handle, |rb| {
+            rb.set_rotation(na::UnitComplex::new(angle), wakeUp)
+        })
+    }
+
+    /// Sets the linear velocity of this rigid-body.
+    pub fn rbSetLinvel(&mut self, handle: FlatHandle, linvel: &RawVector, wakeUp: bool) {
+        self.map_mut(handle, |rb| {
+            rb.set_linvel(linvel.0, wakeUp);
+        });
+    }
+
+    /// Sets the angular velocity of this rigid-body.
+    #[cfg(feature = "dim2")]
+    pub fn rbSetAngvel(&mut self, handle: FlatHandle, angvel: f32, wakeUp: bool) {
+        self.map_mut(handle, |rb| {
+            rb.set_angvel(angvel, wakeUp);
+        });
+    }
+
+    /// Sets the angular velocity of this rigid-body.
+    #[cfg(feature = "dim3")]
+    pub fn rbSetAngvel(&mut self, handle: FlatHandle, angvel: &RawVector, wakeUp: bool) {
+        self.map_mut(handle, |rb| {
+            rb.set_angvel(angvel.0, wakeUp);
+        });
+    }
+
+    /// If this rigid body is kinematic, sets its future translation after the next timestep integration.
+    ///
+    /// This should be used instead of `rigidBody.setTranslation` to make the dynamic object
+    /// interacting with this kinematic body behave as expected. Internally, Rapier will compute
+    /// an artificial velocity for this rigid-body from its current position and its next kinematic
+    /// position. This velocity will be used to compute forces on dynamic bodies interacting with
+    /// this body.
+    ///
+    /// # Parameters
+    /// - `x`: the world-space position of the rigid-body along the `x` axis.
+    /// - `y`: the world-space position of the rigid-body along the `y` axis.
+    /// - `z`: the world-space position of the rigid-body along the `z` axis.
+    #[cfg(feature = "dim3")]
+    pub fn rbSetNextKinematicTranslation(&mut self, handle: FlatHandle, x: f32, y: f32, z: f32) {
+        self.map_mut(handle, |rb| {
+            rb.set_next_kinematic_translation(na::Vector3::new(x, y, z));
+        })
+    }
+
+    /// If this rigid body is kinematic, sets its future translation after the next timestep integration.
+    ///
+    /// This should be used instead of `rigidBody.setTranslation` to make the dynamic object
+    /// interacting with this kinematic body behave as expected. Internally, Rapier will compute
+    /// an artificial velocity for this rigid-body from its current position and its next kinematic
+    /// position. This velocity will be used to compute forces on dynamic bodies interacting with
+    /// this body.
+    ///
+    /// # Parameters
+    /// - `x`: the world-space position of the rigid-body along the `x` axis.
+    /// - `y`: the world-space position of the rigid-body along the `y` axis.
+    #[cfg(feature = "dim2")]
+    pub fn rbSetNextKinematicTranslation(&mut self, handle: FlatHandle, x: f32, y: f32) {
+        self.map_mut(handle, |rb| {
+            rb.set_next_kinematic_translation(na::Vector2::new(x, y));
+        })
+    }
+
+    /// If this rigid body is kinematic, sets its future rotation after the next timestep integration.
+    ///
+    /// This should be used instead of `rigidBody.setRotation` to make the dynamic object
+    /// interacting with this kinematic body behave as expected. Internally, Rapier will compute
+    /// an artificial velocity for this rigid-body from its current position and its next kinematic
+    /// position. This velocity will be used to compute forces on dynamic bodies interacting with
+    /// this body.
+    ///
+    /// # Parameters
+    /// - `x`: the first vector component of the quaternion.
+    /// - `y`: the second vector component of the quaternion.
+    /// - `z`: the third vector component of the quaternion.
+    /// - `w`: the scalar component of the quaternion.
+    #[cfg(feature = "dim3")]
+    pub fn rbSetNextKinematicRotation(
+        &mut self,
+        handle: FlatHandle,
+        x: f32,
+        y: f32,
+        z: f32,
+        w: f32,
+    ) {
+        if let Some(q) = na::Unit::try_new(na::Quaternion::new(w, x, y, z), 0.0) {
+            self.map_mut(handle, |rb| {
+                rb.set_next_kinematic_rotation(q);
+            })
+        }
+    }
+
+    /// If this rigid body is kinematic, sets its future rotation after the next timestep integration.
+    ///
+    /// This should be used instead of `rigidBody.setRotation` to make the dynamic object
+    /// interacting with this kinematic body behave as expected. Internally, Rapier will compute
+    /// an artificial velocity for this rigid-body from its current position and its next kinematic
+    /// position. This velocity will be used to compute forces on dynamic bodies interacting with
+    /// this body.
+    ///
+    /// # Parameters
+    /// - `angle`: the rotation angle, in radians.
+    #[cfg(feature = "dim2")]
+    pub fn rbSetNextKinematicRotation(&mut self, handle: FlatHandle, angle: f32) {
+        self.map_mut(handle, |rb| {
+            rb.set_next_kinematic_rotation(na::UnitComplex::new(angle));
+        })
+    }
+
+    pub fn rbRecomputeMassPropertiesFromColliders(
+        &mut self,
+        handle: FlatHandle,
+        colliders: &RawColliderSet,
+    ) {
+        self.map_mut(handle, |rb| {
+            rb.recompute_mass_properties_from_colliders(&colliders.0)
+        })
+    }
+
+    pub fn rbSetAdditionalMass(&mut self, handle: FlatHandle, mass: f32, wake_up: bool) {
+        self.map_mut(handle, |rb| {
+            rb.set_additional_mass(mass, wake_up);
+        })
+    }
+
+    #[cfg(feature = "dim3")]
+    pub fn rbSetAdditionalMassProperties(
+        &mut self,
+        handle: FlatHandle,
+        mass: f32,
+        centerOfMass: &RawVector,
+        principalAngularInertia: &RawVector,
+        angularInertiaFrame: &RawRotation,
+        wake_up: bool,
+    ) {
+        self.map_mut(handle, |rb| {
+            let mprops = MassProperties::with_principal_inertia_frame(
+                centerOfMass.0.into(),
+                mass,
+                principalAngularInertia.0,
+                angularInertiaFrame.0,
+            );
+            rb.set_additional_mass_properties(mprops, wake_up)
+        })
+    }
+
+    #[cfg(feature = "dim2")]
+    pub fn rbSetAdditionalMassProperties(
+        &mut self,
+        handle: FlatHandle,
+        mass: f32,
+        centerOfMass: &RawVector,
+        principalAngularInertia: f32,
+        wake_up: bool,
+    ) {
+        self.map_mut(handle, |rb| {
+            let props = MassProperties::new(centerOfMass.0.into(), mass, principalAngularInertia);
+            rb.set_additional_mass_properties(props, wake_up)
+        })
+    }
+
+    /// The linear velocity of this rigid-body.
+    pub fn rbLinvel(&self, handle: FlatHandle) -> RawVector {
+        self.map(handle, |rb| RawVector(*rb.linvel()))
+    }
+
+    /// The angular velocity of this rigid-body.
+    #[cfg(feature = "dim2")]
+    pub fn rbAngvel(&self, handle: FlatHandle) -> f32 {
+        self.map(handle, |rb| rb.angvel())
+    }
+
+    /// The angular velocity of this rigid-body.
+    #[cfg(feature = "dim3")]
+    pub fn rbAngvel(&self, handle: FlatHandle) -> RawVector {
+        self.map(handle, |rb| RawVector(*rb.angvel()))
+    }
+
+    /// The velocity of the given world-space point on this rigid-body.
+    pub fn rbVelocityAtPoint(&self, handle: FlatHandle, point: &RawVector) -> RawVector {
+        self.map(handle, |rb| {
+            rb.velocity_at_point(&Point::from(point.0)).into()
+        })
+    }
+
+    pub fn rbLockTranslations(&mut self, handle: FlatHandle, locked: bool, wake_up: bool) {
+        self.map_mut(handle, |rb| rb.lock_translations(locked, wake_up))
+    }
+
+    #[cfg(feature = "dim2")]
+    pub fn rbSetEnabledTranslations(
+        &mut self,
+        handle: FlatHandle,
+        allow_x: bool,
+        allow_y: bool,
+        wake_up: bool,
+    ) {
+        self.map_mut(handle, |rb| {
+            rb.set_enabled_translations(allow_x, allow_y, wake_up)
+        })
+    }
+
+    #[cfg(feature = "dim3")]
+    pub fn rbSetEnabledTranslations(
+        &mut self,
+        handle: FlatHandle,
+        allow_x: bool,
+        allow_y: bool,
+        allow_z: bool,
+        wake_up: bool,
+    ) {
+        self.map_mut(handle, |rb| {
+            rb.set_enabled_translations(allow_x, allow_y, allow_z, wake_up)
+        })
+    }
+
+    pub fn rbLockRotations(&mut self, handle: FlatHandle, locked: bool, wake_up: bool) {
+        self.map_mut(handle, |rb| rb.lock_rotations(locked, wake_up))
+    }
+
+    #[cfg(feature = "dim3")]
+    pub fn rbSetEnabledRotations(
+        &mut self,
+        handle: FlatHandle,
+        allow_x: bool,
+        allow_y: bool,
+        allow_z: bool,
+        wake_up: bool,
+    ) {
+        self.map_mut(handle, |rb| {
+            rb.set_enabled_rotations(allow_x, allow_y, allow_z, wake_up)
+        })
+    }
+
+    pub fn rbDominanceGroup(&self, handle: FlatHandle) -> i8 {
+        self.map(handle, |rb| rb.dominance_group())
+    }
+
+    pub fn rbSetDominanceGroup(&mut self, handle: FlatHandle, group: i8) {
+        self.map_mut(handle, |rb| rb.set_dominance_group(group))
+    }
+
+    pub fn rbEnableCcd(&mut self, handle: FlatHandle, enabled: bool) {
+        self.map_mut(handle, |rb| rb.enable_ccd(enabled))
+    }
+
+    pub fn rbSetSoftCcdPrediction(&mut self, handle: FlatHandle, prediction: f32) {
+        self.map_mut(handle, |rb| rb.set_soft_ccd_prediction(prediction))
+    }
+
+    /// The mass of this rigid-body.
+    pub fn rbMass(&self, handle: FlatHandle) -> f32 {
+        self.map(handle, |rb| rb.mass())
+    }
+
+    /// The inverse of the mass of a rigid-body.
+    ///
+    /// If this is zero, the rigid-body is assumed to have infinite mass.
+    pub fn rbInvMass(&self, handle: FlatHandle) -> f32 {
+        self.map(handle, |rb| rb.mass_properties().local_mprops.inv_mass)
+    }
+
+    /// The inverse mass taking into account translation locking.
+    pub fn rbEffectiveInvMass(&self, handle: FlatHandle) -> RawVector {
+        self.map(handle, |rb| rb.mass_properties().effective_inv_mass.into())
+    }
+
+    /// The center of mass of a rigid-body expressed in its local-space.
+    pub fn rbLocalCom(&self, handle: FlatHandle) -> RawVector {
+        self.map(handle, |rb| {
+            rb.mass_properties().local_mprops.local_com.into()
+        })
+    }
+
+    /// The world-space center of mass of the rigid-body.
+    pub fn rbWorldCom(&self, handle: FlatHandle) -> RawVector {
+        self.map(handle, |rb| rb.mass_properties().world_com.into())
+    }
+
+    /// The inverse of the principal angular inertia of the rigid-body.
+    ///
+    /// Components set to zero are assumed to be infinite along the corresponding principal axis.
+    #[cfg(feature = "dim2")]
+    pub fn rbInvPrincipalInertia(&self, handle: FlatHandle) -> f32 {
+        self.map(handle, |rb| {
+            rb.mass_properties()
+                .local_mprops
+                .inv_principal_inertia
+                .into()
+        })
+    }
+
+    /// The inverse of the principal angular inertia of the rigid-body.
+    ///
+    /// Components set to zero are assumed to be infinite along the corresponding principal axis.
+    #[cfg(feature = "dim3")]
+    pub fn rbInvPrincipalInertia(&self, handle: FlatHandle) -> RawVector {
+        self.map(handle, |rb| {
+            rb.mass_properties()
+                .local_mprops
+                .inv_principal_inertia
+                .into()
+        })
+    }
+
+    #[cfg(feature = "dim3")]
+    /// The principal vectors of the local angular inertia tensor of the rigid-body.
+    pub fn rbPrincipalInertiaLocalFrame(&self, handle: FlatHandle) -> RawRotation {
+        self.map(handle, |rb| {
+            RawRotation::from(
+                rb.mass_properties()
+                    .local_mprops
+                    .principal_inertia_local_frame,
+            )
+        })
+    }
+
+    /// The angular inertia along the principal inertia axes of the rigid-body.
+    #[cfg(feature = "dim2")]
+    pub fn rbPrincipalInertia(&self, handle: FlatHandle) -> f32 {
+        self.map(handle, |rb| {
+            rb.mass_properties().local_mprops.principal_inertia().into()
+        })
+    }
+
+    /// The angular inertia along the principal inertia axes of the rigid-body.
+    #[cfg(feature = "dim3")]
+    pub fn rbPrincipalInertia(&self, handle: FlatHandle) -> RawVector {
+        self.map(handle, |rb| {
+            rb.mass_properties().local_mprops.principal_inertia().into()
+        })
+    }
+
+    /// The world-space inverse angular inertia tensor of the rigid-body,
+    /// taking into account rotation locking.
+    #[cfg(feature = "dim2")]
+    pub fn rbEffectiveWorldInvInertia(&self, handle: FlatHandle) -> f32 {
+        self.map(handle, |rb| {
+            rb.mass_properties().effective_world_inv_inertia.into()
+        })
+    }
+
+    /// The world-space inverse angular inertia tensor of the rigid-body,
+    /// taking into account rotation locking.
+    #[cfg(feature = "dim3")]
+    pub fn rbEffectiveWorldInvInertia(&self, handle: FlatHandle) -> RawSdpMatrix3 {
+        self.map(handle, |rb| {
+            rb.mass_properties().effective_world_inv_inertia.into()
+        })
+    }
+
+    /// The effective world-space angular inertia (that takes the potential rotation locking into account) of
+    /// this rigid-body.
+    #[cfg(feature = "dim2")]
+    pub fn rbEffectiveAngularInertia(&self, handle: FlatHandle) -> f32 {
+        self.map(handle, |rb| {
+            rb.mass_properties().effective_angular_inertia().into()
+        })
+    }
+
+    /// The effective world-space angular inertia (that takes the potential rotation locking into account) of
+    /// this rigid-body.
+    #[cfg(feature = "dim3")]
+    pub fn rbEffectiveAngularInertia(&self, handle: FlatHandle) -> RawSdpMatrix3 {
+        self.map(handle, |rb| {
+            rb.mass_properties().effective_angular_inertia().into()
+        })
+    }
+
+    /// Wakes this rigid-body up.
+    ///
+    /// A dynamic rigid-body that does not move during several consecutive frames will
+    /// be put to sleep by the physics engine, i.e., it will stop being simulated in order
+    /// to avoid useless computations.
+    /// This method forces a sleeping rigid-body to wake-up. This is useful, e.g., before modifying
+    /// the position of a dynamic body so that it is properly simulated afterwards.
+    pub fn rbWakeUp(&mut self, handle: FlatHandle) {
+        self.map_mut(handle, |rb| rb.wake_up(true))
+    }
+
+    /// Is Continuous Collision Detection enabled for this rigid-body?
+    pub fn rbIsCcdEnabled(&self, handle: FlatHandle) -> bool {
+        self.map(handle, |rb| rb.is_ccd_enabled())
+    }
+    pub fn rbSoftCcdPrediction(&self, handle: FlatHandle) -> f32 {
+        self.map(handle, |rb| rb.soft_ccd_prediction())
+    }
+
+    /// The number of colliders attached to this rigid-body.
+    pub fn rbNumColliders(&self, handle: FlatHandle) -> usize {
+        self.map(handle, |rb| rb.colliders().len())
+    }
+
+    /// Retrieves the `i-th` collider attached to this rigid-body.
+    ///
+    /// # Parameters
+    /// - `at`: The index of the collider to retrieve. Must be a number in `[0, this.numColliders()[`.
+    ///         This index is **not** the same as the unique identifier of the collider.
+    pub fn rbCollider(&self, handle: FlatHandle, at: usize) -> FlatHandle {
+        self.map(handle, |rb| utils::flat_handle(rb.colliders()[at].0))
+    }
+
+    /// The status of this rigid-body: fixed, dynamic, or kinematic.
+    pub fn rbBodyType(&self, handle: FlatHandle) -> RawRigidBodyType {
+        self.map(handle, |rb| rb.body_type().into())
+    }
+
+    /// Set a new status for this rigid-body: fixed, dynamic, or kinematic.
+    pub fn rbSetBodyType(&mut self, handle: FlatHandle, status: RawRigidBodyType, wake_up: bool) {
+        self.map_mut(handle, |rb| rb.set_body_type(status.into(), wake_up));
+    }
+
+    /// Is this rigid-body fixed?
+    pub fn rbIsFixed(&self, handle: FlatHandle) -> bool {
+        self.map(handle, |rb| rb.is_fixed())
+    }
+
+    /// Is this rigid-body kinematic?
+    pub fn rbIsKinematic(&self, handle: FlatHandle) -> bool {
+        self.map(handle, |rb| rb.is_kinematic())
+    }
+
+    /// Is this rigid-body dynamic?
+    pub fn rbIsDynamic(&self, handle: FlatHandle) -> bool {
+        self.map(handle, |rb| rb.is_dynamic())
+    }
+
+    /// The linear damping coefficient of this rigid-body.
+    pub fn rbLinearDamping(&self, handle: FlatHandle) -> f32 {
+        self.map(handle, |rb| rb.linear_damping())
+    }
+
+    /// The angular damping coefficient of this rigid-body.
+    pub fn rbAngularDamping(&self, handle: FlatHandle) -> f32 {
+        self.map(handle, |rb| rb.angular_damping())
+    }
+
+    pub fn rbSetLinearDamping(&mut self, handle: FlatHandle, factor: f32) {
+        self.map_mut(handle, |rb| rb.set_linear_damping(factor));
+    }
+
+    pub fn rbSetAngularDamping(&mut self, handle: FlatHandle, factor: f32) {
+        self.map_mut(handle, |rb| rb.set_angular_damping(factor));
+    }
+
+    pub fn rbSetEnabled(&mut self, handle: FlatHandle, enabled: bool) {
+        self.map_mut(handle, |rb| rb.set_enabled(enabled))
+    }
+
+    pub fn rbIsEnabled(&self, handle: FlatHandle) -> bool {
+        self.map(handle, |rb| rb.is_enabled())
+    }
+
+    pub fn rbGravityScale(&self, handle: FlatHandle) -> f32 {
+        self.map(handle, |rb| rb.gravity_scale())
+    }
+
+    pub fn rbSetGravityScale(&mut self, handle: FlatHandle, factor: f32, wakeUp: bool) {
+        self.map_mut(handle, |rb| rb.set_gravity_scale(factor, wakeUp));
+    }
+
+    /// Resets to zero all user-added forces added to this rigid-body.
+    pub fn rbResetForces(&mut self, handle: FlatHandle, wakeUp: bool) {
+        self.map_mut(handle, |rb| {
+            rb.reset_forces(wakeUp);
+        })
+    }
+
+    /// Resets to zero all user-added torques added to this rigid-body.
+    pub fn rbResetTorques(&mut self, handle: FlatHandle, wakeUp: bool) {
+        self.map_mut(handle, |rb| {
+            rb.reset_torques(wakeUp);
+        })
+    }
+
+    /// Adds a force at the center-of-mass of this rigid-body.
+    ///
+    /// # Parameters
+    /// - `force`: the world-space force to apply on the rigid-body.
+    /// - `wakeUp`: should the rigid-body be automatically woken-up?
+    pub fn rbAddForce(&mut self, handle: FlatHandle, force: &RawVector, wakeUp: bool) {
+        self.map_mut(handle, |rb| {
+            rb.add_force(force.0, wakeUp);
+        })
+    }
+
+    /// Applies an impulse at the center-of-mass of this rigid-body.
+    ///
+    /// # Parameters
+    /// - `impulse`: the world-space impulse to apply on the rigid-body.
+    /// - `wakeUp`: should the rigid-body be automatically woken-up?
+    pub fn rbApplyImpulse(&mut self, handle: FlatHandle, impulse: &RawVector, wakeUp: bool) {
+        self.map_mut(handle, |rb| {
+            rb.apply_impulse(impulse.0, wakeUp);
+        })
+    }
+
+    /// Adds a torque at the center-of-mass of this rigid-body.
+    ///
+    /// # Parameters
+    /// - `torque`: the torque to apply on the rigid-body.
+    /// - `wakeUp`: should the rigid-body be automatically woken-up?
+    #[cfg(feature = "dim2")]
+    pub fn rbAddTorque(&mut self, handle: FlatHandle, torque: f32, wakeUp: bool) {
+        self.map_mut(handle, |rb| {
+            rb.add_torque(torque, wakeUp);
+        })
+    }
+
+    /// Adds a torque at the center-of-mass of this rigid-body.
+    ///
+    /// # Parameters
+    /// - `torque`: the world-space torque to apply on the rigid-body.
+    /// - `wakeUp`: should the rigid-body be automatically woken-up?
+    #[cfg(feature = "dim3")]
+    pub fn rbAddTorque(&mut self, handle: FlatHandle, torque: &RawVector, wakeUp: bool) {
+        self.map_mut(handle, |rb| {
+            rb.add_torque(torque.0, wakeUp);
+        })
+    }
+
+    /// Applies an impulsive torque at the center-of-mass of this rigid-body.
+    ///
+    /// # Parameters
+    /// - `torque impulse`: the torque impulse to apply on the rigid-body.
+    /// - `wakeUp`: should the rigid-body be automatically woken-up?
+    #[cfg(feature = "dim2")]
+    pub fn rbApplyTorqueImpulse(&mut self, handle: FlatHandle, torque_impulse: f32, wakeUp: bool) {
+        self.map_mut(handle, |rb| {
+            rb.apply_torque_impulse(torque_impulse, wakeUp);
+        })
+    }
+
+    /// Applies an impulsive torque at the center-of-mass of this rigid-body.
+    ///
+    /// # Parameters
+    /// - `torque impulse`: the world-space torque impulse to apply on the rigid-body.
+    /// - `wakeUp`: should the rigid-body be automatically woken-up?
+    #[cfg(feature = "dim3")]
+    pub fn rbApplyTorqueImpulse(
+        &mut self,
+        handle: FlatHandle,
+        torque_impulse: &RawVector,
+        wakeUp: bool,
+    ) {
+        self.map_mut(handle, |rb| {
+            rb.apply_torque_impulse(torque_impulse.0, wakeUp);
+        })
+    }
+
+    /// Adds a force at the given world-space point of this rigid-body.
+    ///
+    /// # Parameters
+    /// - `force`: the world-space force to apply on the rigid-body.
+    /// - `point`: the world-space point where the impulse is to be applied on the rigid-body.
+    /// - `wakeUp`: should the rigid-body be automatically woken-up?
+    pub fn rbAddForceAtPoint(
+        &mut self,
+        handle: FlatHandle,
+        force: &RawVector,
+        point: &RawVector,
+        wakeUp: bool,
+    ) {
+        self.map_mut(handle, |rb| {
+            rb.add_force_at_point(force.0, point.0.into(), wakeUp);
+        })
+    }
+
+    /// Applies an impulse at the given world-space point of this rigid-body.
+    ///
+    /// # Parameters
+    /// - `impulse`: the world-space impulse to apply on the rigid-body.
+    /// - `point`: the world-space point where the impulse is to be applied on the rigid-body.
+    /// - `wakeUp`: should the rigid-body be automatically woken-up?
+    pub fn rbApplyImpulseAtPoint(
+        &mut self,
+        handle: FlatHandle,
+        impulse: &RawVector,
+        point: &RawVector,
+        wakeUp: bool,
+    ) {
+        self.map_mut(handle, |rb| {
+            rb.apply_impulse_at_point(impulse.0, point.0.into(), wakeUp);
+        })
+    }
+
+    pub fn rbAdditionalSolverIterations(&self, handle: FlatHandle) -> usize {
+        self.map(handle, |rb| rb.additional_solver_iterations())
+    }
+
+    pub fn rbSetAdditionalSolverIterations(&mut self, handle: FlatHandle, iters: usize) {
+        self.map_mut(handle, |rb| {
+            rb.set_additional_solver_iterations(iters as usize);
+        })
+    }
+
+    /// An arbitrary user-defined 32-bit integer
+    pub fn rbUserData(&self, handle: FlatHandle) -> u32 {
+        self.map(handle, |rb| rb.user_data as u32)
+    }
+
+    /// Sets the user-defined 32-bit integer of this rigid-body.
+    ///
+    /// # Parameters
+    /// - `data`: an arbitrary user-defined 32-bit integer.
+    pub fn rbSetUserData(&mut self, handle: FlatHandle, data: u32) {
+        self.map_mut(handle, |rb| {
+            rb.user_data = data as u128;
+        })
+    }
+
+    /// Retrieves the constant force(s) the user added to this rigid-body.
+    /// Returns zero if the rigid-body is not dynamic.
+    pub fn rbUserForce(&self, handle: FlatHandle) -> RawVector {
+        self.map(handle, |rb| rb.user_force().into())
+    }
+
+    /// Retrieves the constant torque(s) the user added to this rigid-body.
+    /// Returns zero if the rigid-body is not dynamic.
+    #[cfg(feature = "dim2")]
+    pub fn rbUserTorque(&self, handle: FlatHandle) -> f32 {
+        self.map(handle, |rb| rb.user_torque())
+    }
+
+    /// Retrieves the constant torque(s) the user added to this rigid-body.
+    /// Returns zero if the rigid-body is not dynamic.
+    #[cfg(feature = "dim3")]
+    pub fn rbUserTorque(&self, handle: FlatHandle) -> RawVector {
+        self.map(handle, |rb| rb.user_torque().into())
+    }
+}
diff --git a/thirdparty/rapier.js/src/dynamics/rigid_body_set.rs b/thirdparty/rapier.js/src/dynamics/rigid_body_set.rs
new file mode 100644
index 00000000..83b963e3
--- /dev/null
+++ b/thirdparty/rapier.js/src/dynamics/rigid_body_set.rs
@@ -0,0 +1,237 @@
+use crate::dynamics::{RawImpulseJointSet, RawIslandManager, RawMultibodyJointSet};
+use crate::geometry::RawColliderSet;
+use crate::math::{RawRotation, RawVector};
+use crate::utils::{self, FlatHandle};
+use rapier::dynamics::{MassProperties, RigidBody, RigidBodyBuilder, RigidBodySet, RigidBodyType};
+use wasm_bindgen::prelude::*;
+
+#[wasm_bindgen]
+pub enum RawRigidBodyType {
+    Dynamic,
+    Fixed,
+    KinematicPositionBased,
+    KinematicVelocityBased,
+}
+
+impl Into<RigidBodyType> for RawRigidBodyType {
+    fn into(self) -> RigidBodyType {
+        match self {
+            RawRigidBodyType::Dynamic => RigidBodyType::Dynamic,
+            RawRigidBodyType::Fixed => RigidBodyType::Fixed,
+            RawRigidBodyType::KinematicPositionBased => RigidBodyType::KinematicPositionBased,
+            RawRigidBodyType::KinematicVelocityBased => RigidBodyType::KinematicVelocityBased,
+        }
+    }
+}
+
+impl Into<RawRigidBodyType> for RigidBodyType {
+    fn into(self) -> RawRigidBodyType {
+        match self {
+            RigidBodyType::Dynamic => RawRigidBodyType::Dynamic,
+            RigidBodyType::Fixed => RawRigidBodyType::Fixed,
+            RigidBodyType::KinematicPositionBased => RawRigidBodyType::KinematicPositionBased,
+            RigidBodyType::KinematicVelocityBased => RawRigidBodyType::KinematicVelocityBased,
+        }
+    }
+}
+
+#[wasm_bindgen]
+pub struct RawRigidBodySet(pub(crate) RigidBodySet);
+
+impl RawRigidBodySet {
+    pub(crate) fn map<T>(&self, handle: FlatHandle, f: impl FnOnce(&RigidBody) -> T) -> T {
+        let body = self.0.get(utils::body_handle(handle)).expect(
+            "Invalid RigidBody reference. It may have been removed from the physics World.",
+        );
+        f(body)
+    }
+
+    pub(crate) fn map_mut<T>(
+        &mut self,
+        handle: FlatHandle,
+        f: impl FnOnce(&mut RigidBody) -> T,
+    ) -> T {
+        let body = self.0.get_mut(utils::body_handle(handle)).expect(
+            "Invalid RigidBody reference. It may have been removed from the physics World.",
+        );
+        f(body)
+    }
+}
+
+#[wasm_bindgen]
+impl RawRigidBodySet {
+    #[wasm_bindgen(constructor)]
+    pub fn new() -> Self {
+        RawRigidBodySet(RigidBodySet::new())
+    }
+
+    #[cfg(feature = "dim3")]
+    pub fn createRigidBody(
+        &mut self,
+        enabled: bool,
+        translation: &RawVector,
+        rotation: &RawRotation,
+        gravityScale: f32,
+        mass: f32,
+        massOnly: bool,
+        centerOfMass: &RawVector,
+        linvel: &RawVector,
+        angvel: &RawVector,
+        principalAngularInertia: &RawVector,
+        angularInertiaFrame: &RawRotation,
+        translationEnabledX: bool,
+        translationEnabledY: bool,
+        translationEnabledZ: bool,
+        rotationEnabledX: bool,
+        rotationEnabledY: bool,
+        rotationEnabledZ: bool,
+        linearDamping: f32,
+        angularDamping: f32,
+        rb_type: RawRigidBodyType,
+        canSleep: bool,
+        sleeping: bool,
+        softCcdPrediction: f32,
+        ccdEnabled: bool,
+        dominanceGroup: i8,
+        additional_solver_iterations: usize,
+    ) -> FlatHandle {
+        let pos = na::Isometry3::from_parts(translation.0.into(), rotation.0);
+
+        let mut rigid_body = RigidBodyBuilder::new(rb_type.into())
+            .enabled(enabled)
+            .pose(pos)
+            .gravity_scale(gravityScale)
+            .enabled_translations(
+                translationEnabledX,
+                translationEnabledY,
+                translationEnabledZ,
+            )
+            .enabled_rotations(rotationEnabledX, rotationEnabledY, rotationEnabledZ)
+            .linvel(linvel.0)
+            .angvel(angvel.0)
+            .linear_damping(linearDamping)
+            .angular_damping(angularDamping)
+            .can_sleep(canSleep)
+            .sleeping(sleeping)
+            .ccd_enabled(ccdEnabled)
+            .dominance_group(dominanceGroup)
+            .additional_solver_iterations(additional_solver_iterations)
+            .soft_ccd_prediction(softCcdPrediction);
+
+        rigid_body = if massOnly {
+            rigid_body.additional_mass(mass)
+        } else {
+            let props = MassProperties::with_principal_inertia_frame(
+                centerOfMass.0.into(),
+                mass,
+                principalAngularInertia.0,
+                angularInertiaFrame.0,
+            );
+            rigid_body.additional_mass_properties(props)
+        };
+
+        utils::flat_handle(self.0.insert(rigid_body.build()).0)
+    }
+
+    #[cfg(feature = "dim2")]
+    pub fn createRigidBody(
+        &mut self,
+        enabled: bool,
+        translation: &RawVector,
+        rotation: &RawRotation,
+        gravityScale: f32,
+        mass: f32,
+        massOnly: bool,
+        centerOfMass: &RawVector,
+        linvel: &RawVector,
+        angvel: f32,
+        principalAngularInertia: f32,
+        translationEnabledX: bool,
+        translationEnabledY: bool,
+        rotationsEnabled: bool,
+        linearDamping: f32,
+        angularDamping: f32,
+        rb_type: RawRigidBodyType,
+        canSleep: bool,
+        sleeping: bool,
+        softCcdPrediciton: f32,
+        ccdEnabled: bool,
+        dominanceGroup: i8,
+        additional_solver_iterations: usize,
+    ) -> FlatHandle {
+        let pos = na::Isometry2::from_parts(translation.0.into(), rotation.0);
+        let mut rigid_body = RigidBodyBuilder::new(rb_type.into())
+            .enabled(enabled)
+            .pose(pos)
+            .gravity_scale(gravityScale)
+            .enabled_translations(translationEnabledX, translationEnabledY)
+            .linvel(linvel.0)
+            .angvel(angvel)
+            .linear_damping(linearDamping)
+            .angular_damping(angularDamping)
+            .can_sleep(canSleep)
+            .sleeping(sleeping)
+            .ccd_enabled(ccdEnabled)
+            .dominance_group(dominanceGroup)
+            .additional_solver_iterations(additional_solver_iterations)
+            .soft_ccd_prediction(softCcdPrediciton);
+
+        rigid_body = if massOnly {
+            rigid_body.additional_mass(mass)
+        } else {
+            let props = MassProperties::new(centerOfMass.0.into(), mass, principalAngularInertia);
+            rigid_body.additional_mass_properties(props)
+        };
+
+        if !rotationsEnabled {
+            rigid_body = rigid_body.lock_rotations();
+        }
+
+        utils::flat_handle(self.0.insert(rigid_body.build()).0)
+    }
+
+    pub fn remove(
+        &mut self,
+        handle: FlatHandle,
+        islands: &mut RawIslandManager,
+        colliders: &mut RawColliderSet,
+        joints: &mut RawImpulseJointSet,
+        articulations: &mut RawMultibodyJointSet,
+    ) {
+        let handle = utils::body_handle(handle);
+        self.0.remove(
+            handle,
+            &mut islands.0,
+            &mut colliders.0,
+            &mut joints.0,
+            &mut articulations.0,
+            true,
+        );
+    }
+
+    /// The number of rigid-bodies on this set.
+    pub fn len(&self) -> usize {
+        self.0.len()
+    }
+
+    /// Checks if a rigid-body with the given integer handle exists.
+    pub fn contains(&self, handle: FlatHandle) -> bool {
+        self.0.get(utils::body_handle(handle)).is_some()
+    }
+
+    /// Applies the given JavaScript function to the integer handle of each rigid-body managed by this set.
+    ///
+    /// # Parameters
+    /// - `f(handle)`: the function to apply to the integer handle of each rigid-body managed by this set. Called as `f(collider)`.
+    pub fn forEachRigidBodyHandle(&self, f: &js_sys::Function) {
+        let this = JsValue::null();
+        for (handle, _) in self.0.iter() {
+            let _ = f.call1(&this, &JsValue::from(utils::flat_handle(handle.0)));
+        }
+    }
+
+    pub fn propagateModifiedBodyPositionsToColliders(&mut self, colliders: &mut RawColliderSet) {
+        self.0
+            .propagate_modified_body_positions_to_colliders(&mut colliders.0);
+    }
+}
diff --git a/thirdparty/rapier.js/src/geometry/broad_phase.rs b/thirdparty/rapier.js/src/geometry/broad_phase.rs
new file mode 100644
index 00000000..6f81a862
--- /dev/null
+++ b/thirdparty/rapier.js/src/geometry/broad_phase.rs
@@ -0,0 +1,462 @@
+use crate::dynamics::RawRigidBodySet;
+use crate::geometry::{
+    RawColliderSet, RawColliderShapeCastHit, RawNarrowPhase, RawPointColliderProjection,
+    RawRayColliderHit, RawRayColliderIntersection, RawShape,
+};
+use crate::math::{RawRotation, RawVector};
+use crate::utils::{self, FlatHandle};
+use rapier::geometry::DefaultBroadPhase;
+use rapier::geometry::{Aabb, ColliderHandle, Ray};
+use rapier::math::{Isometry, Point};
+use rapier::parry::query::ShapeCastOptions;
+use rapier::pipeline::{QueryFilter, QueryFilterFlags};
+use rapier::prelude::FeatureId;
+use wasm_bindgen::prelude::*;
+
+#[wasm_bindgen]
+pub struct RawBroadPhase(pub(crate) DefaultBroadPhase);
+
+#[wasm_bindgen]
+impl RawBroadPhase {
+    #[wasm_bindgen(constructor)]
+    pub fn new() -> Self {
+        RawBroadPhase(DefaultBroadPhase::new())
+    }
+
+    pub fn castRay(
+        &self,
+        narrow_phase: &RawNarrowPhase,
+        bodies: &RawRigidBodySet,
+        colliders: &RawColliderSet,
+        rayOrig: &RawVector,
+        rayDir: &RawVector,
+        maxToi: f32,
+        solid: bool,
+        filter_flags: u32,
+        filter_groups: Option<u32>,
+        filter_exclude_collider: Option<FlatHandle>,
+        filter_exclude_rigid_body: Option<FlatHandle>,
+        filter_predicate: &js_sys::Function,
+    ) -> Option<RawRayColliderHit> {
+        let (handle, timeOfImpact) = utils::with_filter(filter_predicate, |predicate| {
+            let query_filter = QueryFilter {
+                flags: QueryFilterFlags::from_bits(filter_flags)
+                    .unwrap_or(QueryFilterFlags::empty()),
+                groups: filter_groups.map(crate::geometry::unpack_interaction_groups),
+                exclude_collider: filter_exclude_collider.map(crate::utils::collider_handle),
+                exclude_rigid_body: filter_exclude_rigid_body.map(crate::utils::body_handle),
+                predicate,
+            };
+
+            let query_pipeline = self.0.as_query_pipeline(
+                narrow_phase.0.query_dispatcher(),
+                &bodies.0,
+                &colliders.0,
+                query_filter,
+            );
+
+            let ray = Ray::new(rayOrig.0.into(), rayDir.0);
+            query_pipeline.cast_ray(&ray, maxToi, solid)
+        })?;
+
+        Some(RawRayColliderHit {
+            handle,
+            timeOfImpact,
+        })
+    }
+
+    pub fn castRayAndGetNormal(
+        &self,
+        narrow_phase: &RawNarrowPhase,
+        bodies: &RawRigidBodySet,
+        colliders: &RawColliderSet,
+        rayOrig: &RawVector,
+        rayDir: &RawVector,
+        maxToi: f32,
+        solid: bool,
+        filter_flags: u32,
+        filter_groups: Option<u32>,
+        filter_exclude_collider: Option<FlatHandle>,
+        filter_exclude_rigid_body: Option<FlatHandle>,
+        filter_predicate: &js_sys::Function,
+    ) -> Option<RawRayColliderIntersection> {
+        let (handle, inter) = utils::with_filter(filter_predicate, |predicate| {
+            let query_filter = QueryFilter {
+                flags: QueryFilterFlags::from_bits(filter_flags)
+                    .unwrap_or(QueryFilterFlags::empty()),
+                groups: filter_groups.map(crate::geometry::unpack_interaction_groups),
+                exclude_collider: filter_exclude_collider.map(crate::utils::collider_handle),
+                exclude_rigid_body: filter_exclude_rigid_body.map(crate::utils::body_handle),
+                predicate,
+            };
+
+            let query_pipeline = self.0.as_query_pipeline(
+                narrow_phase.0.query_dispatcher(),
+                &bodies.0,
+                &colliders.0,
+                query_filter,
+            );
+
+            let ray = Ray::new(rayOrig.0.into(), rayDir.0);
+            query_pipeline.cast_ray_and_get_normal(&ray, maxToi, solid)
+        })?;
+
+        Some(RawRayColliderIntersection { handle, inter })
+    }
+
+    // The callback is of type (RawRayColliderIntersection) => bool
+    pub fn intersectionsWithRay(
+        &self,
+        narrow_phase: &RawNarrowPhase,
+        bodies: &RawRigidBodySet,
+        colliders: &RawColliderSet,
+        rayOrig: &RawVector,
+        rayDir: &RawVector,
+        maxToi: f32,
+        solid: bool,
+        callback: &js_sys::Function,
+        filter_flags: u32,
+        filter_groups: Option<u32>,
+        filter_exclude_collider: Option<FlatHandle>,
+        filter_exclude_rigid_body: Option<FlatHandle>,
+        filter_predicate: &js_sys::Function,
+    ) {
+        utils::with_filter(filter_predicate, |predicate| {
+            let query_filter = QueryFilter {
+                flags: QueryFilterFlags::from_bits(filter_flags)
+                    .unwrap_or(QueryFilterFlags::empty()),
+                groups: filter_groups.map(crate::geometry::unpack_interaction_groups),
+                exclude_collider: filter_exclude_collider.map(crate::utils::collider_handle),
+                exclude_rigid_body: filter_exclude_rigid_body.map(crate::utils::body_handle),
+                predicate,
+            };
+
+            let ray = Ray::new(rayOrig.0.into(), rayDir.0);
+            let rcallback = |handle, inter| {
+                let result = RawRayColliderIntersection { handle, inter };
+                match callback.call1(&JsValue::null(), &JsValue::from(result)) {
+                    Err(_) => true,
+                    Ok(val) => val.as_bool().unwrap_or(true),
+                }
+            };
+
+            let query_pipeline = self.0.as_query_pipeline(
+                narrow_phase.0.query_dispatcher(),
+                &bodies.0,
+                &colliders.0,
+                query_filter,
+            );
+
+            for (handle, _, inter) in query_pipeline.intersect_ray(ray, maxToi, solid) {
+                if !rcallback(handle, inter) {
+                    break;
+                }
+            }
+        });
+    }
+
+    pub fn intersectionWithShape(
+        &self,
+        narrow_phase: &RawNarrowPhase,
+        bodies: &RawRigidBodySet,
+        colliders: &RawColliderSet,
+        shapePos: &RawVector,
+        shapeRot: &RawRotation,
+        shape: &RawShape,
+        filter_flags: u32,
+        filter_groups: Option<u32>,
+        filter_exclude_collider: Option<FlatHandle>,
+        filter_exclude_rigid_body: Option<FlatHandle>,
+        filter_predicate: &js_sys::Function,
+    ) -> Option<FlatHandle> {
+        utils::with_filter(filter_predicate, |predicate| {
+            let query_filter = QueryFilter {
+                flags: QueryFilterFlags::from_bits(filter_flags)
+                    .unwrap_or(QueryFilterFlags::empty()),
+                groups: filter_groups.map(crate::geometry::unpack_interaction_groups),
+                exclude_collider: filter_exclude_collider.map(crate::utils::collider_handle),
+                exclude_rigid_body: filter_exclude_rigid_body.map(crate::utils::body_handle),
+                predicate,
+            };
+
+            let query_pipeline = self.0.as_query_pipeline(
+                narrow_phase.0.query_dispatcher(),
+                &bodies.0,
+                &colliders.0,
+                query_filter,
+            );
+
+            let pos = Isometry::from_parts(shapePos.0.into(), shapeRot.0);
+
+            // TODO: take a callback as argument so we can yield all the intersecting shapes?
+            for (handle, _) in query_pipeline.intersect_shape(pos, &*shape.0) {
+                // Return the first intersection we find.
+                return Some(utils::flat_handle(handle.0));
+            }
+
+            None
+        })
+    }
+
+    pub fn projectPoint(
+        &self,
+        narrow_phase: &RawNarrowPhase,
+        bodies: &RawRigidBodySet,
+        colliders: &RawColliderSet,
+        point: &RawVector,
+        solid: bool,
+        filter_flags: u32,
+        filter_groups: Option<u32>,
+        filter_exclude_collider: Option<FlatHandle>,
+        filter_exclude_rigid_body: Option<FlatHandle>,
+        filter_predicate: &js_sys::Function,
+    ) -> Option<RawPointColliderProjection> {
+        utils::with_filter(filter_predicate, |predicate| {
+            let query_filter = QueryFilter {
+                flags: QueryFilterFlags::from_bits(filter_flags)
+                    .unwrap_or(QueryFilterFlags::empty()),
+                groups: filter_groups.map(crate::geometry::unpack_interaction_groups),
+                exclude_collider: filter_exclude_collider.map(crate::utils::collider_handle),
+                exclude_rigid_body: filter_exclude_rigid_body.map(crate::utils::body_handle),
+                predicate,
+            };
+
+            let query_pipeline = self.0.as_query_pipeline(
+                narrow_phase.0.query_dispatcher(),
+                &bodies.0,
+                &colliders.0,
+                query_filter,
+            );
+
+            query_pipeline
+                .project_point(&point.0.into(), f32::MAX, solid)
+                .map(|(handle, proj)| RawPointColliderProjection {
+                    handle,
+                    proj,
+                    feature: FeatureId::Unknown,
+                })
+        })
+    }
+
+    pub fn projectPointAndGetFeature(
+        &self,
+        narrow_phase: &RawNarrowPhase,
+        bodies: &RawRigidBodySet,
+        colliders: &RawColliderSet,
+        point: &RawVector,
+        filter_flags: u32,
+        filter_groups: Option<u32>,
+        filter_exclude_collider: Option<FlatHandle>,
+        filter_exclude_rigid_body: Option<FlatHandle>,
+        filter_predicate: &js_sys::Function,
+    ) -> Option<RawPointColliderProjection> {
+        utils::with_filter(filter_predicate, |predicate| {
+            let query_filter = QueryFilter {
+                flags: QueryFilterFlags::from_bits(filter_flags)
+                    .unwrap_or(QueryFilterFlags::empty()),
+                groups: filter_groups.map(crate::geometry::unpack_interaction_groups),
+                exclude_collider: filter_exclude_collider.map(crate::utils::collider_handle),
+                exclude_rigid_body: filter_exclude_rigid_body.map(crate::utils::body_handle),
+                predicate,
+            };
+
+            let query_pipeline = self.0.as_query_pipeline(
+                narrow_phase.0.query_dispatcher(),
+                &bodies.0,
+                &colliders.0,
+                query_filter,
+            );
+
+            query_pipeline
+                .project_point_and_get_feature(&point.0.into())
+                .map(|(handle, proj, feature)| RawPointColliderProjection {
+                    handle,
+                    proj,
+                    feature,
+                })
+        })
+    }
+
+    // The callback is of type (u32) => bool
+    pub fn intersectionsWithPoint(
+        &self,
+        narrow_phase: &RawNarrowPhase,
+        bodies: &RawRigidBodySet,
+        colliders: &RawColliderSet,
+        point: &RawVector,
+        callback: &js_sys::Function,
+        filter_flags: u32,
+        filter_groups: Option<u32>,
+        filter_exclude_collider: Option<FlatHandle>,
+        filter_exclude_rigid_body: Option<FlatHandle>,
+        filter_predicate: &js_sys::Function,
+    ) {
+        utils::with_filter(filter_predicate, |predicate| {
+            let query_filter = QueryFilter {
+                flags: QueryFilterFlags::from_bits(filter_flags)
+                    .unwrap_or(QueryFilterFlags::empty()),
+                groups: filter_groups.map(crate::geometry::unpack_interaction_groups),
+                exclude_collider: filter_exclude_collider.map(crate::utils::collider_handle),
+                exclude_rigid_body: filter_exclude_rigid_body.map(crate::utils::body_handle),
+                predicate,
+            };
+
+            let query_pipeline = self.0.as_query_pipeline(
+                narrow_phase.0.query_dispatcher(),
+                &bodies.0,
+                &colliders.0,
+                query_filter,
+            );
+
+            let rcallback = |handle: ColliderHandle| match callback.call1(
+                &JsValue::null(),
+                &JsValue::from(utils::flat_handle(handle.0)),
+            ) {
+                Err(_) => true,
+                Ok(val) => val.as_bool().unwrap_or(true),
+            };
+
+            for (handle, _) in query_pipeline.intersect_point(point.0.into()) {
+                if !rcallback(handle) {
+                    break;
+                }
+            }
+        });
+    }
+
+    pub fn castShape(
+        &self,
+        narrow_phase: &RawNarrowPhase,
+        bodies: &RawRigidBodySet,
+        colliders: &RawColliderSet,
+        shapePos: &RawVector,
+        shapeRot: &RawRotation,
+        shapeVel: &RawVector,
+        shape: &RawShape,
+        target_distance: f32,
+        maxToi: f32,
+        stop_at_penetration: bool,
+        filter_flags: u32,
+        filter_groups: Option<u32>,
+        filter_exclude_collider: Option<FlatHandle>,
+        filter_exclude_rigid_body: Option<FlatHandle>,
+        filter_predicate: &js_sys::Function,
+    ) -> Option<RawColliderShapeCastHit> {
+        utils::with_filter(filter_predicate, |predicate| {
+            let query_filter = QueryFilter {
+                flags: QueryFilterFlags::from_bits(filter_flags)
+                    .unwrap_or(QueryFilterFlags::empty()),
+                groups: filter_groups.map(crate::geometry::unpack_interaction_groups),
+                exclude_collider: filter_exclude_collider.map(crate::utils::collider_handle),
+                exclude_rigid_body: filter_exclude_rigid_body.map(crate::utils::body_handle),
+                predicate,
+            };
+
+            let query_pipeline = self.0.as_query_pipeline(
+                narrow_phase.0.query_dispatcher(),
+                &bodies.0,
+                &colliders.0,
+                query_filter,
+            );
+
+            let pos = Isometry::from_parts(shapePos.0.into(), shapeRot.0);
+            query_pipeline
+                .cast_shape(
+                    &pos,
+                    &shapeVel.0,
+                    &*shape.0,
+                    ShapeCastOptions {
+                        max_time_of_impact: maxToi,
+                        stop_at_penetration,
+                        compute_impact_geometry_on_penetration: true,
+                        target_distance,
+                    },
+                )
+                .map(|(handle, hit)| RawColliderShapeCastHit { handle, hit })
+        })
+    }
+
+    // The callback has type (u32) => boolean
+    pub fn intersectionsWithShape(
+        &self,
+        narrow_phase: &RawNarrowPhase,
+        bodies: &RawRigidBodySet,
+        colliders: &RawColliderSet,
+        shapePos: &RawVector,
+        shapeRot: &RawRotation,
+        shape: &RawShape,
+        callback: &js_sys::Function,
+        filter_flags: u32,
+        filter_groups: Option<u32>,
+        filter_exclude_collider: Option<FlatHandle>,
+        filter_exclude_rigid_body: Option<FlatHandle>,
+        filter_predicate: &js_sys::Function,
+    ) {
+        utils::with_filter(filter_predicate, |predicate| {
+            let query_filter = QueryFilter {
+                flags: QueryFilterFlags::from_bits(filter_flags)
+                    .unwrap_or(QueryFilterFlags::empty()),
+                groups: filter_groups.map(crate::geometry::unpack_interaction_groups),
+                exclude_collider: filter_exclude_collider.map(crate::utils::collider_handle),
+                exclude_rigid_body: filter_exclude_rigid_body.map(crate::utils::body_handle),
+                predicate,
+            };
+
+            let query_pipeline = self.0.as_query_pipeline(
+                narrow_phase.0.query_dispatcher(),
+                &bodies.0,
+                &colliders.0,
+                query_filter,
+            );
+
+            let rcallback = |handle: ColliderHandle| match callback.call1(
+                &JsValue::null(),
+                &JsValue::from(utils::flat_handle(handle.0)),
+            ) {
+                Err(_) => true,
+                Ok(val) => val.as_bool().unwrap_or(true),
+            };
+
+            let pos = Isometry::from_parts(shapePos.0.into(), shapeRot.0);
+            for (handle, _) in query_pipeline.intersect_shape(pos, &*shape.0) {
+                if !rcallback(handle) {
+                    break;
+                }
+            }
+        })
+    }
+
+    pub fn collidersWithAabbIntersectingAabb(
+        &self,
+        narrow_phase: &RawNarrowPhase,
+        bodies: &RawRigidBodySet,
+        colliders: &RawColliderSet,
+        aabbCenter: &RawVector,
+        aabbHalfExtents: &RawVector,
+        callback: &js_sys::Function,
+    ) {
+        let rcallback = |handle: &ColliderHandle| match callback.call1(
+            &JsValue::null(),
+            &JsValue::from(utils::flat_handle(handle.0)),
+        ) {
+            Err(_) => true,
+            Ok(val) => val.as_bool().unwrap_or(true),
+        };
+
+        let query_pipeline = self.0.as_query_pipeline(
+            narrow_phase.0.query_dispatcher(),
+            &bodies.0,
+            &colliders.0,
+            Default::default(),
+        );
+
+        let center = Point::from(aabbCenter.0);
+        let aabb = Aabb::new(center - aabbHalfExtents.0, center + aabbHalfExtents.0);
+
+        for (handle, _) in query_pipeline.intersect_aabb_conservative(aabb) {
+            if !rcallback(&handle) {
+                break;
+            }
+        }
+    }
+}
diff --git a/thirdparty/rapier.js/src/geometry/collider.rs b/thirdparty/rapier.js/src/geometry/collider.rs
new file mode 100644
index 00000000..e8019044
--- /dev/null
+++ b/thirdparty/rapier.js/src/geometry/collider.rs
@@ -0,0 +1,993 @@
+use crate::geometry::shape::SharedShapeUtility;
+use crate::geometry::{
+    RawColliderSet, RawColliderShapeCastHit, RawPointProjection, RawRayIntersection, RawShape,
+    RawShapeCastHit, RawShapeContact, RawShapeType,
+};
+use crate::math::{RawRotation, RawVector};
+use crate::utils::{self, FlatHandle};
+use rapier::dynamics::MassProperties;
+use rapier::geometry::{ActiveCollisionTypes, ShapeType};
+use rapier::math::{Isometry, Point, Real, Vector};
+use rapier::parry::query;
+use rapier::parry::query::ShapeCastOptions;
+use rapier::pipeline::{ActiveEvents, ActiveHooks};
+use wasm_bindgen::prelude::*;
+
+#[wasm_bindgen]
+impl RawColliderSet {
+    /// The world-space translation of this collider.
+    pub fn coTranslation(&self, handle: FlatHandle) -> RawVector {
+        self.map(handle, |co| co.position().translation.vector.into())
+    }
+
+    /// The world-space orientation of this collider.
+    pub fn coRotation(&self, handle: FlatHandle) -> RawRotation {
+        self.map(handle, |co| co.position().rotation.into())
+    }
+
+    /// The translation of this collider relative to its parent rigid-body.
+    ///
+    /// Returns the `None` if it doesn’t have a parent.
+    pub fn coTranslationWrtParent(&self, handle: FlatHandle) -> Option<RawVector> {
+        self.map(handle, |co| {
+            co.position_wrt_parent()
+                .map(|pose| pose.translation.vector.into())
+        })
+    }
+
+    /// The orientation of this collider relative to its parent rigid-body.
+    ///
+    /// Returns the `None` if it doesn’t have a parent.
+    pub fn coRotationWrtParent(&self, handle: FlatHandle) -> Option<RawRotation> {
+        self.map(handle, |co| {
+            co.position_wrt_parent().map(|pose| pose.rotation.into())
+        })
+    }
+
+    /// Sets the translation of this collider.
+    ///
+    /// # Parameters
+    /// - `x`: the world-space position of the collider along the `x` axis.
+    /// - `y`: the world-space position of the collider along the `y` axis.
+    /// - `z`: the world-space position of the collider along the `z` axis.
+    /// - `wakeUp`: forces the collider to wake-up so it is properly affected by forces if it
+    /// wasn't moving before modifying its position.
+    #[cfg(feature = "dim3")]
+    pub fn coSetTranslation(&mut self, handle: FlatHandle, x: f32, y: f32, z: f32) {
+        self.map_mut(handle, |co| {
+            co.set_translation(na::Vector3::new(x, y, z));
+        })
+    }
+
+    /// Sets the translation of this collider.
+    ///
+    /// # Parameters
+    /// - `x`: the world-space position of the collider along the `x` axis.
+    /// - `y`: the world-space position of the collider along the `y` axis.
+    /// - `wakeUp`: forces the collider to wake-up so it is properly affected by forces if it
+    /// wasn't moving before modifying its position.
+    #[cfg(feature = "dim2")]
+    pub fn coSetTranslation(&mut self, handle: FlatHandle, x: f32, y: f32) {
+        self.map_mut(handle, |co| {
+            co.set_translation(na::Vector2::new(x, y));
+        })
+    }
+
+    #[cfg(feature = "dim3")]
+    pub fn coSetTranslationWrtParent(&mut self, handle: FlatHandle, x: f32, y: f32, z: f32) {
+        self.map_mut(handle, |co| {
+            co.set_translation_wrt_parent(na::Vector3::new(x, y, z));
+        })
+    }
+
+    #[cfg(feature = "dim2")]
+    pub fn coSetTranslationWrtParent(&mut self, handle: FlatHandle, x: f32, y: f32) {
+        self.map_mut(handle, |co| {
+            co.set_translation_wrt_parent(na::Vector2::new(x, y));
+        })
+    }
+
+    /// Sets the rotation quaternion of this collider.
+    ///
+    /// This does nothing if a zero quaternion is provided.
+    ///
+    /// # Parameters
+    /// - `x`: the first vector component of the quaternion.
+    /// - `y`: the second vector component of the quaternion.
+    /// - `z`: the third vector component of the quaternion.
+    /// - `w`: the scalar component of the quaternion.
+    /// - `wakeUp`: forces the collider to wake-up so it is properly affected by forces if it
+    /// wasn't moving before modifying its position.
+    #[cfg(feature = "dim3")]
+    pub fn coSetRotation(&mut self, handle: FlatHandle, x: f32, y: f32, z: f32, w: f32) {
+        if let Some(q) = na::Unit::try_new(na::Quaternion::new(w, x, y, z), 0.0) {
+            self.map_mut(handle, |co| co.set_rotation(q))
+        }
+    }
+
+    /// Sets the rotation angle of this collider.
+    ///
+    /// # Parameters
+    /// - `angle`: the rotation angle, in radians.
+    /// - `wakeUp`: forces the collider to wake-up so it is properly affected by forces if it
+    /// wasn't moving before modifying its position.
+    #[cfg(feature = "dim2")]
+    pub fn coSetRotation(&mut self, handle: FlatHandle, angle: f32) {
+        self.map_mut(handle, |co| co.set_rotation(na::UnitComplex::new(angle)))
+    }
+
+    #[cfg(feature = "dim3")]
+    pub fn coSetRotationWrtParent(&mut self, handle: FlatHandle, x: f32, y: f32, z: f32, w: f32) {
+        if let Some(q) = na::Unit::try_new(na::Quaternion::new(w, x, y, z), 0.0) {
+            self.map_mut(handle, |co| co.set_rotation_wrt_parent(q.scaled_axis()))
+        }
+    }
+
+    #[cfg(feature = "dim2")]
+    pub fn coSetRotationWrtParent(&mut self, handle: FlatHandle, angle: f32) {
+        self.map_mut(handle, |co| co.set_rotation_wrt_parent(angle))
+    }
+
+    /// Is this collider a sensor?
+    pub fn coIsSensor(&self, handle: FlatHandle) -> bool {
+        self.map(handle, |co| co.is_sensor())
+    }
+
+    /// The type of the shape of this collider.
+    pub fn coShapeType(&self, handle: FlatHandle) -> RawShapeType {
+        self.map(handle, |co| match co.shape().shape_type() {
+            ShapeType::Ball => RawShapeType::Ball,
+            ShapeType::Cuboid => RawShapeType::Cuboid,
+            ShapeType::Capsule => RawShapeType::Capsule,
+            ShapeType::Segment => RawShapeType::Segment,
+            ShapeType::Polyline => RawShapeType::Polyline,
+            ShapeType::Triangle => RawShapeType::Triangle,
+            ShapeType::TriMesh => RawShapeType::TriMesh,
+            ShapeType::HeightField => RawShapeType::HeightField,
+            ShapeType::Compound => RawShapeType::Compound,
+            ShapeType::HalfSpace => RawShapeType::HalfSpace,
+            ShapeType::Voxels => RawShapeType::Voxels,
+            #[cfg(feature = "dim3")]
+            ShapeType::ConvexPolyhedron => RawShapeType::ConvexPolyhedron,
+            #[cfg(feature = "dim2")]
+            ShapeType::ConvexPolygon => RawShapeType::ConvexPolygon,
+            #[cfg(feature = "dim3")]
+            ShapeType::Cylinder => RawShapeType::Cylinder,
+            #[cfg(feature = "dim3")]
+            ShapeType::Cone => RawShapeType::Cone,
+            ShapeType::RoundCuboid => RawShapeType::RoundCuboid,
+            ShapeType::RoundTriangle => RawShapeType::RoundTriangle,
+            #[cfg(feature = "dim3")]
+            ShapeType::RoundCylinder => RawShapeType::RoundCylinder,
+            #[cfg(feature = "dim3")]
+            ShapeType::RoundCone => RawShapeType::RoundCone,
+            #[cfg(feature = "dim3")]
+            ShapeType::RoundConvexPolyhedron => RawShapeType::RoundConvexPolyhedron,
+            #[cfg(feature = "dim2")]
+            ShapeType::RoundConvexPolygon => RawShapeType::RoundConvexPolygon,
+            ShapeType::Custom => panic!("Not yet implemented."),
+        })
+    }
+
+    pub fn coHalfspaceNormal(&self, handle: FlatHandle) -> Option<RawVector> {
+        self.map(handle, |co| {
+            co.shape()
+                .as_halfspace()
+                .map(|h| h.normal.into_inner().into())
+        })
+    }
+
+    /// The half-extents of this collider if it is has a cuboid shape.
+    pub fn coHalfExtents(&self, handle: FlatHandle) -> Option<RawVector> {
+        self.map(handle, |co| {
+            co.shape()
+                .as_cuboid()
+                .map(|c| c.half_extents.into())
+                .or_else(|| {
+                    co.shape()
+                        .as_round_cuboid()
+                        .map(|c| c.inner_shape.half_extents.into())
+                })
+        })
+    }
+
+    /// Set the half-extents of this collider if it has a cuboid shape.
+    pub fn coSetHalfExtents(&mut self, handle: FlatHandle, newHalfExtents: &RawVector) {
+        self.map_mut(handle, |co| match co.shape().shape_type() {
+            ShapeType::Cuboid => co
+                .shape_mut()
+                .as_cuboid_mut()
+                .map(|b| b.half_extents = newHalfExtents.0.into()),
+            ShapeType::RoundCuboid => co
+                .shape_mut()
+                .as_round_cuboid_mut()
+                .map(|b| b.inner_shape.half_extents = newHalfExtents.0.into()),
+            _ => None,
+        });
+    }
+
+    /// The radius of this collider if it is a ball, capsule, cylinder, or cone shape.
+    pub fn coRadius(&self, handle: FlatHandle) -> Option<f32> {
+        self.map(handle, |co| match co.shape().shape_type() {
+            ShapeType::Ball => co.shape().as_ball().map(|b| b.radius),
+            ShapeType::Capsule => co.shape().as_capsule().map(|b| b.radius),
+            #[cfg(feature = "dim3")]
+            ShapeType::Cylinder => co.shape().as_cylinder().map(|b| b.radius),
+            #[cfg(feature = "dim3")]
+            ShapeType::RoundCylinder => {
+                co.shape().as_round_cylinder().map(|b| b.inner_shape.radius)
+            }
+            #[cfg(feature = "dim3")]
+            ShapeType::Cone => co.shape().as_cone().map(|b| b.radius),
+            _ => None,
+        })
+    }
+
+    /// Set the radius of this collider if it is a ball, capsule, cylinder, or cone shape.
+    pub fn coSetRadius(&mut self, handle: FlatHandle, newRadius: Real) {
+        self.map_mut(handle, |co| match co.shape().shape_type() {
+            ShapeType::Ball => co.shape_mut().as_ball_mut().map(|b| b.radius = newRadius),
+            ShapeType::Capsule => co
+                .shape_mut()
+                .as_capsule_mut()
+                .map(|b| b.radius = newRadius),
+            #[cfg(feature = "dim3")]
+            ShapeType::Cylinder => co
+                .shape_mut()
+                .as_cylinder_mut()
+                .map(|b| b.radius = newRadius),
+            #[cfg(feature = "dim3")]
+            ShapeType::RoundCylinder => co
+                .shape_mut()
+                .as_round_cylinder_mut()
+                .map(|b| b.inner_shape.radius = newRadius),
+            #[cfg(feature = "dim3")]
+            ShapeType::Cone => co.shape_mut().as_cone_mut().map(|b| b.radius = newRadius),
+            _ => None,
+        });
+    }
+
+    /// The half height of this collider if it is a capsule, cylinder, or cone shape.
+    pub fn coHalfHeight(&self, handle: FlatHandle) -> Option<f32> {
+        self.map(handle, |co| match co.shape().shape_type() {
+            ShapeType::Capsule => co.shape().as_capsule().map(|b| b.half_height()),
+            #[cfg(feature = "dim3")]
+            ShapeType::Cylinder => co.shape().as_cylinder().map(|b| b.half_height),
+            #[cfg(feature = "dim3")]
+            ShapeType::RoundCylinder => co
+                .shape()
+                .as_round_cylinder()
+                .map(|b| b.inner_shape.half_height),
+            #[cfg(feature = "dim3")]
+            ShapeType::Cone => co.shape().as_cone().map(|b| b.half_height),
+            _ => None,
+        })
+    }
+
+    /// Set the half height of this collider if it is a capsule, cylinder, or cone shape.
+    pub fn coSetHalfHeight(&mut self, handle: FlatHandle, newHalfheight: Real) {
+        self.map_mut(handle, |co| match co.shape().shape_type() {
+            ShapeType::Capsule => {
+                let point = Point::from(Vector::y() * newHalfheight);
+                co.shape_mut().as_capsule_mut().map(|b| {
+                    b.segment.a = -point;
+                    b.segment.b = point;
+                })
+            }
+            #[cfg(feature = "dim3")]
+            ShapeType::Cylinder => co
+                .shape_mut()
+                .as_cylinder_mut()
+                .map(|b| b.half_height = newHalfheight),
+            #[cfg(feature = "dim3")]
+            ShapeType::RoundCylinder => co
+                .shape_mut()
+                .as_round_cylinder_mut()
+                .map(|b| b.inner_shape.half_height = newHalfheight),
+            #[cfg(feature = "dim3")]
+            ShapeType::Cone => co
+                .shape_mut()
+                .as_cone_mut()
+                .map(|b| b.half_height = newHalfheight),
+            _ => None,
+        });
+    }
+
+    /// The radius of the round edges of this collider.
+    pub fn coRoundRadius(&self, handle: FlatHandle) -> Option<f32> {
+        self.map(handle, |co| match co.shape().shape_type() {
+            ShapeType::RoundCuboid => co.shape().as_round_cuboid().map(|b| b.border_radius),
+            ShapeType::RoundTriangle => co.shape().as_round_triangle().map(|b| b.border_radius),
+            #[cfg(feature = "dim3")]
+            ShapeType::RoundCylinder => co.shape().as_round_cylinder().map(|b| b.border_radius),
+            #[cfg(feature = "dim3")]
+            ShapeType::RoundCone => co.shape().as_round_cone().map(|b| b.border_radius),
+            #[cfg(feature = "dim3")]
+            ShapeType::RoundConvexPolyhedron => co
+                .shape()
+                .as_round_convex_polyhedron()
+                .map(|b| b.border_radius),
+            #[cfg(feature = "dim2")]
+            ShapeType::RoundConvexPolygon => co
+                .shape()
+                .as_round_convex_polygon()
+                .map(|b| b.border_radius),
+            _ => None,
+        })
+    }
+
+    /// Set the radius of the round edges of this collider.
+    pub fn coSetRoundRadius(&mut self, handle: FlatHandle, newBorderRadius: Real) {
+        self.map_mut(handle, |co| match co.shape().shape_type() {
+            ShapeType::RoundCuboid => co
+                .shape_mut()
+                .as_round_cuboid_mut()
+                .map(|b| b.border_radius = newBorderRadius),
+            ShapeType::RoundTriangle => co
+                .shape_mut()
+                .as_round_triangle_mut()
+                .map(|b| b.border_radius = newBorderRadius),
+            #[cfg(feature = "dim3")]
+            ShapeType::RoundCylinder => co
+                .shape_mut()
+                .as_round_cylinder_mut()
+                .map(|b| b.border_radius = newBorderRadius),
+            #[cfg(feature = "dim3")]
+            ShapeType::RoundCone => co
+                .shape_mut()
+                .as_round_cone_mut()
+                .map(|b| b.border_radius = newBorderRadius),
+            #[cfg(feature = "dim3")]
+            ShapeType::RoundConvexPolyhedron => co
+                .shape_mut()
+                .as_round_convex_polyhedron_mut()
+                .map(|b| b.border_radius = newBorderRadius),
+            #[cfg(feature = "dim2")]
+            ShapeType::RoundConvexPolygon => co
+                .shape_mut()
+                .as_round_convex_polygon_mut()
+                .map(|b| b.border_radius = newBorderRadius),
+            _ => None,
+        });
+    }
+
+    pub fn coVoxelData(&self, handle: FlatHandle) -> Option<Vec<i32>> {
+        self.map(handle, |co| {
+            let vox = co.shape().as_voxels()?;
+            let coords = vox
+                .voxels()
+                .filter_map(|vox| (!vox.state.is_empty()).then_some(vox.grid_coords))
+                .flat_map(|ids| ids.coords.data.0[0])
+                .collect();
+            Some(coords)
+        })
+    }
+
+    pub fn coVoxelSize(&self, handle: FlatHandle) -> Option<RawVector> {
+        self.map(handle, |co| {
+            let vox = co.shape().as_voxels()?;
+            Some(RawVector(vox.voxel_size()))
+        })
+    }
+
+    #[cfg(feature = "dim2")]
+    pub fn coSetVoxel(&mut self, handle: FlatHandle, ix: i32, iy: i32, filled: bool) {
+        self.map_mut(handle, |co| {
+            if let Some(vox) = co.shape_mut().as_voxels_mut() {
+                vox.set_voxel(Point::new(ix, iy), filled);
+            }
+        })
+    }
+
+    #[cfg(feature = "dim3")]
+    pub fn coSetVoxel(&mut self, handle: FlatHandle, ix: i32, iy: i32, iz: i32, filled: bool) {
+        self.map_mut(handle, |co| {
+            if let Some(vox) = co.shape_mut().as_voxels_mut() {
+                vox.set_voxel(Point::new(ix, iy, iz), filled);
+            }
+        })
+    }
+
+    #[cfg(feature = "dim2")]
+    pub fn coPropagateVoxelChange(
+        &mut self,
+        handle1: FlatHandle,
+        handle2: FlatHandle,
+        ix: i32,
+        iy: i32,
+        shift_x: i32,
+        shift_y: i32,
+    ) {
+        self.map_pair_mut(handle1, handle2, |co1, co2| {
+            if let (Some(co1), Some(co2)) = (co1, co2) {
+                if let (Some(vox1), Some(vox2)) = (
+                    co1.shape_mut().as_voxels_mut(),
+                    co2.shape_mut().as_voxels_mut(),
+                ) {
+                    vox1.propagate_voxel_change(
+                        vox2,
+                        Point::new(ix, iy),
+                        Vector::new(shift_x, shift_y),
+                    );
+                }
+            }
+        })
+    }
+
+    #[cfg(feature = "dim3")]
+    pub fn coPropagateVoxelChange(
+        &mut self,
+        handle1: FlatHandle,
+        handle2: FlatHandle,
+        ix: i32,
+        iy: i32,
+        iz: i32,
+        shift_x: i32,
+        shift_y: i32,
+        shift_z: i32,
+    ) {
+        self.map_pair_mut(handle1, handle2, |co1, co2| {
+            if let (Some(co1), Some(co2)) = (co1, co2) {
+                if let (Some(vox1), Some(vox2)) = (
+                    co1.shape_mut().as_voxels_mut(),
+                    co2.shape_mut().as_voxels_mut(),
+                ) {
+                    vox1.propagate_voxel_change(
+                        vox2,
+                        Point::new(ix, iy, iz),
+                        Vector::new(shift_x, shift_y, shift_z),
+                    );
+                }
+            }
+        })
+    }
+
+    #[cfg(feature = "dim2")]
+    pub fn coCombineVoxelStates(
+        &mut self,
+        handle1: FlatHandle,
+        handle2: FlatHandle,
+        shift_x: i32,
+        shift_y: i32,
+    ) {
+        self.map_pair_mut(handle1, handle2, |co1, co2| {
+            if let (Some(co1), Some(co2)) = (co1, co2) {
+                if let (Some(vox1), Some(vox2)) = (
+                    co1.shape_mut().as_voxels_mut(),
+                    co2.shape_mut().as_voxels_mut(),
+                ) {
+                    vox1.combine_voxel_states(vox2, Vector::new(shift_x, shift_y));
+                }
+            }
+        })
+    }
+
+    #[cfg(feature = "dim3")]
+    pub fn coCombineVoxelStates(
+        &mut self,
+        handle1: FlatHandle,
+        handle2: FlatHandle,
+        shift_x: i32,
+        shift_y: i32,
+        shift_z: i32,
+    ) {
+        self.map_pair_mut(handle1, handle2, |co1, co2| {
+            if let (Some(co1), Some(co2)) = (co1, co2) {
+                if let (Some(vox1), Some(vox2)) = (
+                    co1.shape_mut().as_voxels_mut(),
+                    co2.shape_mut().as_voxels_mut(),
+                ) {
+                    vox1.combine_voxel_states(vox2, Vector::new(shift_x, shift_y, shift_z));
+                }
+            }
+        })
+    }
+
+    /// The vertices of this triangle mesh, polyline, convex polyhedron, segment, triangle or convex polyhedron, if it is one.
+    pub fn coVertices(&self, handle: FlatHandle) -> Option<Vec<f32>> {
+        let flatten =
+            |vertices: &[Point<f32>]| vertices.iter().flat_map(|p| p.iter()).copied().collect();
+        self.map(handle, |co| match co.shape().shape_type() {
+            ShapeType::TriMesh => co.shape().as_trimesh().map(|t| flatten(t.vertices())),
+            #[cfg(feature = "dim2")]
+            ShapeType::Polyline => co.shape().as_polyline().map(|p| flatten(p.vertices())),
+            #[cfg(feature = "dim3")]
+            ShapeType::ConvexPolyhedron => co
+                .shape()
+                .as_convex_polyhedron()
+                .map(|p| flatten(p.points())),
+            #[cfg(feature = "dim3")]
+            ShapeType::RoundConvexPolyhedron => co
+                .shape()
+                .as_round_convex_polyhedron()
+                .map(|p| flatten(p.inner_shape.points())),
+            #[cfg(feature = "dim2")]
+            ShapeType::ConvexPolygon => co.shape().as_convex_polygon().map(|p| flatten(p.points())),
+            #[cfg(feature = "dim2")]
+            ShapeType::RoundConvexPolygon => co
+                .shape()
+                .as_round_convex_polygon()
+                .map(|p| flatten(p.inner_shape.points())),
+            ShapeType::Segment => co.shape().as_segment().map(|s| flatten(&[s.a, s.b])),
+            ShapeType::RoundTriangle => co
+                .shape()
+                .as_round_triangle()
+                .map(|t| flatten(&[t.inner_shape.a, t.inner_shape.b, t.inner_shape.c])),
+            ShapeType::Triangle => co.shape().as_triangle().map(|t| flatten(&[t.a, t.b, t.c])),
+            _ => None,
+        })
+    }
+
+    /// The indices of this triangle mesh, polyline, or convex polyhedron, if it is one.
+    pub fn coIndices(&self, handle: FlatHandle) -> Option<Vec<u32>> {
+        self.map(handle, |co| match co.shape().shape_type() {
+            ShapeType::TriMesh => co
+                .shape()
+                .as_trimesh()
+                .map(|t| t.indices().iter().flat_map(|p| p.iter()).copied().collect()),
+            ShapeType::Polyline => co
+                .shape()
+                .as_polyline()
+                .map(|p| p.indices().iter().flat_map(|p| p.iter()).copied().collect()),
+            #[cfg(feature = "dim3")]
+            ShapeType::ConvexPolyhedron => co.shape().as_convex_polyhedron().map(|p| {
+                // TODO: avoid the `.to_trimesh()`.
+                p.to_trimesh()
+                    .1
+                    .iter()
+                    .flat_map(|p| p.iter())
+                    .copied()
+                    .collect()
+            }),
+            #[cfg(feature = "dim3")]
+            ShapeType::RoundConvexPolyhedron => co.shape().as_round_convex_polyhedron().map(|p| {
+                // TODO: avoid the `.to_trimesh()`.
+                p.inner_shape
+                    .to_trimesh()
+                    .1
+                    .iter()
+                    .flat_map(|p| p.iter())
+                    .copied()
+                    .collect()
+            }),
+            _ => None,
+        })
+    }
+
+    pub fn coTriMeshFlags(&self, handle: FlatHandle) -> Option<u32> {
+        self.map(handle, |co| {
+            co.shape().as_trimesh().map(|tri| tri.flags().bits() as u32)
+        })
+    }
+
+    #[cfg(feature = "dim3")]
+    pub fn coHeightFieldFlags(&self, handle: FlatHandle) -> Option<u32> {
+        self.map(handle, |co| {
+            co.shape()
+                .as_heightfield()
+                .map(|hf| hf.flags().bits() as u32)
+        })
+    }
+
+    /// The height of this heightfield if it is one.
+    pub fn coHeightfieldHeights(&self, handle: FlatHandle) -> Option<Vec<f32>> {
+        self.map(handle, |co| match co.shape().shape_type() {
+            ShapeType::HeightField => co
+                .shape()
+                .as_heightfield()
+                .map(|h| h.heights().as_slice().to_vec()),
+            _ => None,
+        })
+    }
+
+    /// The scaling factor applied of this heightfield if it is one.
+    pub fn coHeightfieldScale(&self, handle: FlatHandle) -> Option<RawVector> {
+        self.map(handle, |co| match co.shape().shape_type() {
+            ShapeType::HeightField => co.shape().as_heightfield().map(|h| RawVector(*h.scale())),
+            _ => None,
+        })
+    }
+
+    /// The number of rows on this heightfield's height matrix, if it is one.
+    #[cfg(feature = "dim3")]
+    pub fn coHeightfieldNRows(&self, handle: FlatHandle) -> Option<usize> {
+        self.map(handle, |co| match co.shape().shape_type() {
+            ShapeType::HeightField => co.shape().as_heightfield().map(|h| h.nrows()),
+            _ => None,
+        })
+    }
+
+    /// The number of columns on this heightfield's height matrix, if it is one.
+    #[cfg(feature = "dim3")]
+    pub fn coHeightfieldNCols(&self, handle: FlatHandle) -> Option<usize> {
+        self.map(handle, |co| match co.shape().shape_type() {
+            ShapeType::HeightField => co.shape().as_heightfield().map(|h| h.ncols()),
+            _ => None,
+        })
+    }
+
+    /// The unique integer identifier of the collider this collider is attached to.
+    pub fn coParent(&self, handle: FlatHandle) -> Option<FlatHandle> {
+        self.map(handle, |co| co.parent().map(|p| utils::flat_handle(p.0)))
+    }
+
+    pub fn coSetEnabled(&mut self, handle: FlatHandle, enabled: bool) {
+        self.map_mut(handle, |co| co.set_enabled(enabled))
+    }
+
+    pub fn coIsEnabled(&self, handle: FlatHandle) -> bool {
+        self.map(handle, |co| co.is_enabled())
+    }
+
+    pub fn coSetContactSkin(&mut self, handle: FlatHandle, contact_skin: f32) {
+        self.map_mut(handle, |co| co.set_contact_skin(contact_skin))
+    }
+
+    pub fn coContactSkin(&self, handle: FlatHandle) -> f32 {
+        self.map(handle, |co| co.contact_skin())
+    }
+
+    /// The friction coefficient of this collider.
+    pub fn coFriction(&self, handle: FlatHandle) -> f32 {
+        self.map(handle, |co| co.material().friction)
+    }
+    /// The restitution coefficient of this collider.
+    pub fn coRestitution(&self, handle: FlatHandle) -> f32 {
+        self.map(handle, |co| co.material().restitution)
+    }
+
+    /// The density of this collider.
+    pub fn coDensity(&self, handle: FlatHandle) -> f32 {
+        self.map(handle, |co| co.density())
+    }
+
+    /// The mass of this collider.
+    pub fn coMass(&self, handle: FlatHandle) -> f32 {
+        self.map(handle, |co| co.mass())
+    }
+
+    /// The volume of this collider.
+    pub fn coVolume(&self, handle: FlatHandle) -> f32 {
+        self.map(handle, |co| co.volume())
+    }
+
+    /// The collision groups of this collider.
+    pub fn coCollisionGroups(&self, handle: FlatHandle) -> u32 {
+        self.map(handle, |co| {
+            super::pack_interaction_groups(co.collision_groups())
+        })
+    }
+
+    /// The solver groups of this collider.
+    pub fn coSolverGroups(&self, handle: FlatHandle) -> u32 {
+        self.map(handle, |co| {
+            super::pack_interaction_groups(co.solver_groups())
+        })
+    }
+
+    /// The physics hooks enabled for this collider.
+    pub fn coActiveHooks(&self, handle: FlatHandle) -> u32 {
+        self.map(handle, |co| co.active_hooks().bits())
+    }
+
+    /// The collision types enabled for this collider.
+    pub fn coActiveCollisionTypes(&self, handle: FlatHandle) -> u16 {
+        self.map(handle, |co| co.active_collision_types().bits())
+    }
+
+    /// The events enabled for this collider.
+    pub fn coActiveEvents(&self, handle: FlatHandle) -> u32 {
+        self.map(handle, |co| co.active_events().bits())
+    }
+
+    /// The total force magnitude beyond which a contact force event can be emitted.
+    pub fn coContactForceEventThreshold(&self, handle: FlatHandle) -> f32 {
+        self.map(handle, |co| co.contact_force_event_threshold())
+    }
+
+    pub fn coContainsPoint(&self, handle: FlatHandle, point: &RawVector) -> bool {
+        self.map(handle, |co| {
+            co.shared_shape()
+                .containsPoint(co.position(), &point.0.into())
+        })
+    }
+
+    pub fn coCastShape(
+        &self,
+        handle: FlatHandle,
+        colliderVel: &RawVector,
+        shape2: &RawShape,
+        shape2Pos: &RawVector,
+        shape2Rot: &RawRotation,
+        shape2Vel: &RawVector,
+        target_distance: f32,
+        maxToi: f32,
+        stop_at_penetration: bool,
+    ) -> Option<RawShapeCastHit> {
+        let pos2 = Isometry::from_parts(shape2Pos.0.into(), shape2Rot.0);
+
+        self.map(handle, |co| {
+            let pos1 = co.position();
+            co.shared_shape().castShape(
+                pos1,
+                &colliderVel.0.into(),
+                &*shape2.0,
+                &pos2,
+                &shape2Vel.0.into(),
+                target_distance,
+                maxToi,
+                stop_at_penetration,
+            )
+        })
+    }
+
+    pub fn coCastCollider(
+        &self,
+        handle: FlatHandle,
+        collider1Vel: &RawVector,
+        collider2handle: FlatHandle,
+        collider2Vel: &RawVector,
+        target_distance: f32,
+        max_toi: f32,
+        stop_at_penetration: bool,
+    ) -> Option<RawColliderShapeCastHit> {
+        let handle2 = utils::collider_handle(collider2handle);
+        let co2 = self
+            .0
+            .get(handle2)
+            .expect("Invalid Collider reference. It may have been removed from the physics World.");
+
+        self.map(handle, |co| {
+            query::cast_shapes(
+                co.position(),
+                &collider1Vel.0,
+                co.shape(),
+                co2.position(),
+                &collider2Vel.0,
+                co2.shape(),
+                ShapeCastOptions {
+                    max_time_of_impact: max_toi,
+                    stop_at_penetration,
+                    target_distance,
+                    compute_impact_geometry_on_penetration: true,
+                },
+            )
+            .unwrap_or(None)
+            .map_or(None, |hit| {
+                Some(RawColliderShapeCastHit {
+                    handle: handle2,
+                    hit,
+                })
+            })
+        })
+    }
+
+    pub fn coIntersectsShape(
+        &self,
+        handle: FlatHandle,
+        shape2: &RawShape,
+        shapePos2: &RawVector,
+        shapeRot2: &RawRotation,
+    ) -> bool {
+        let pos2 = Isometry::from_parts(shapePos2.0.into(), shapeRot2.0);
+
+        self.map(handle, |co| {
+            co.shared_shape()
+                .intersectsShape(co.position(), &*shape2.0, &pos2)
+        })
+    }
+
+    pub fn coContactShape(
+        &self,
+        handle: FlatHandle,
+        shape2: &RawShape,
+        shapePos2: &RawVector,
+        shapeRot2: &RawRotation,
+        prediction: f32,
+    ) -> Option<RawShapeContact> {
+        let pos2 = Isometry::from_parts(shapePos2.0.into(), shapeRot2.0);
+
+        self.map(handle, |co| {
+            co.shared_shape()
+                .contactShape(co.position(), &*shape2.0, &pos2, prediction)
+        })
+    }
+
+    pub fn coContactCollider(
+        &self,
+        handle: FlatHandle,
+        collider2handle: FlatHandle,
+        prediction: f32,
+    ) -> Option<RawShapeContact> {
+        let co2 = self
+            .0
+            .get(utils::collider_handle(collider2handle))
+            .expect("Invalid Collider reference. It may have been removed from the physics World.");
+
+        self.map(handle, |co| {
+            query::contact(
+                co.position(),
+                co.shape(),
+                &co2.position(),
+                co2.shape(),
+                prediction,
+            )
+            .ok()
+            .flatten()
+            .map(|contact| RawShapeContact { contact })
+        })
+    }
+
+    pub fn coProjectPoint(
+        &self,
+        handle: FlatHandle,
+        point: &RawVector,
+        solid: bool,
+    ) -> RawPointProjection {
+        self.map(handle, |co| {
+            co.shared_shape()
+                .projectPoint(co.position(), &point.0.into(), solid)
+        })
+    }
+
+    pub fn coIntersectsRay(
+        &self,
+        handle: FlatHandle,
+        rayOrig: &RawVector,
+        rayDir: &RawVector,
+        maxToi: f32,
+    ) -> bool {
+        self.map(handle, |co| {
+            co.shared_shape().intersectsRay(
+                co.position(),
+                rayOrig.0.into(),
+                rayDir.0.into(),
+                maxToi,
+            )
+        })
+    }
+
+    pub fn coCastRay(
+        &self,
+        handle: FlatHandle,
+        rayOrig: &RawVector,
+        rayDir: &RawVector,
+        maxToi: f32,
+        solid: bool,
+    ) -> f32 {
+        self.map(handle, |co| {
+            co.shared_shape().castRay(
+                co.position(),
+                rayOrig.0.into(),
+                rayDir.0.into(),
+                maxToi,
+                solid,
+            )
+        })
+    }
+
+    pub fn coCastRayAndGetNormal(
+        &self,
+        handle: FlatHandle,
+        rayOrig: &RawVector,
+        rayDir: &RawVector,
+        maxToi: f32,
+        solid: bool,
+    ) -> Option<RawRayIntersection> {
+        self.map(handle, |co| {
+            co.shared_shape().castRayAndGetNormal(
+                co.position(),
+                rayOrig.0.into(),
+                rayDir.0.into(),
+                maxToi,
+                solid,
+            )
+        })
+    }
+
+    pub fn coSetSensor(&mut self, handle: FlatHandle, is_sensor: bool) {
+        self.map_mut(handle, |co| co.set_sensor(is_sensor))
+    }
+
+    pub fn coSetRestitution(&mut self, handle: FlatHandle, restitution: f32) {
+        self.map_mut(handle, |co| co.set_restitution(restitution))
+    }
+
+    pub fn coSetFriction(&mut self, handle: FlatHandle, friction: f32) {
+        self.map_mut(handle, |co| co.set_friction(friction))
+    }
+
+    pub fn coFrictionCombineRule(&self, handle: FlatHandle) -> u32 {
+        self.map(handle, |co| co.friction_combine_rule() as u32)
+    }
+
+    pub fn coSetFrictionCombineRule(&mut self, handle: FlatHandle, rule: u32) {
+        let rule = super::combine_rule_from_u32(rule);
+        self.map_mut(handle, |co| co.set_friction_combine_rule(rule))
+    }
+
+    pub fn coRestitutionCombineRule(&self, handle: FlatHandle) -> u32 {
+        self.map(handle, |co| co.restitution_combine_rule() as u32)
+    }
+
+    pub fn coSetRestitutionCombineRule(&mut self, handle: FlatHandle, rule: u32) {
+        let rule = super::combine_rule_from_u32(rule);
+        self.map_mut(handle, |co| co.set_restitution_combine_rule(rule))
+    }
+
+    pub fn coSetCollisionGroups(&mut self, handle: FlatHandle, groups: u32) {
+        let groups = super::unpack_interaction_groups(groups);
+        self.map_mut(handle, |co| co.set_collision_groups(groups))
+    }
+
+    pub fn coSetSolverGroups(&mut self, handle: FlatHandle, groups: u32) {
+        let groups = super::unpack_interaction_groups(groups);
+        self.map_mut(handle, |co| co.set_solver_groups(groups))
+    }
+
+    pub fn coSetActiveHooks(&mut self, handle: FlatHandle, hooks: u32) {
+        let hooks = ActiveHooks::from_bits(hooks).unwrap_or(ActiveHooks::empty());
+        self.map_mut(handle, |co| co.set_active_hooks(hooks));
+    }
+
+    pub fn coSetActiveEvents(&mut self, handle: FlatHandle, events: u32) {
+        let events = ActiveEvents::from_bits(events).unwrap_or(ActiveEvents::empty());
+        self.map_mut(handle, |co| co.set_active_events(events))
+    }
+
+    pub fn coSetActiveCollisionTypes(&mut self, handle: FlatHandle, types: u16) {
+        let types = ActiveCollisionTypes::from_bits(types).unwrap_or(ActiveCollisionTypes::empty());
+        self.map_mut(handle, |co| co.set_active_collision_types(types));
+    }
+
+    pub fn coSetShape(&mut self, handle: FlatHandle, shape: &RawShape) {
+        self.map_mut(handle, |co| co.set_shape(shape.0.clone()));
+    }
+
+    pub fn coSetContactForceEventThreshold(&mut self, handle: FlatHandle, threshold: f32) {
+        self.map_mut(handle, |co| co.set_contact_force_event_threshold(threshold))
+    }
+
+    pub fn coSetDensity(&mut self, handle: FlatHandle, density: f32) {
+        self.map_mut(handle, |co| co.set_density(density))
+    }
+
+    pub fn coSetMass(&mut self, handle: FlatHandle, mass: f32) {
+        self.map_mut(handle, |co| co.set_mass(mass))
+    }
+
+    #[cfg(feature = "dim3")]
+    pub fn coSetMassProperties(
+        &mut self,
+        handle: FlatHandle,
+        mass: f32,
+        centerOfMass: &RawVector,
+        principalAngularInertia: &RawVector,
+        angularInertiaFrame: &RawRotation,
+    ) {
+        self.map_mut(handle, |co| {
+            let mprops = MassProperties::with_principal_inertia_frame(
+                centerOfMass.0.into(),
+                mass,
+                principalAngularInertia.0,
+                angularInertiaFrame.0,
+            );
+
+            co.set_mass_properties(mprops)
+        })
+    }
+
+    #[cfg(feature = "dim2")]
+    pub fn coSetMassProperties(
+        &mut self,
+        handle: FlatHandle,
+        mass: f32,
+        centerOfMass: &RawVector,
+        principalAngularInertia: f32,
+    ) {
+        self.map_mut(handle, |co| {
+            let props = MassProperties::new(centerOfMass.0.into(), mass, principalAngularInertia);
+            co.set_mass_properties(props)
+        })
+    }
+}
diff --git a/thirdparty/rapier.js/src/geometry/collider_set.rs b/thirdparty/rapier.js/src/geometry/collider_set.rs
new file mode 100644
index 00000000..6e31d8eb
--- /dev/null
+++ b/thirdparty/rapier.js/src/geometry/collider_set.rs
@@ -0,0 +1,293 @@
+use crate::dynamics::{RawIslandManager, RawRigidBodySet};
+use crate::geometry::RawShape;
+use crate::math::{RawRotation, RawVector};
+use crate::utils::{self, FlatHandle};
+use rapier::prelude::*;
+use wasm_bindgen::prelude::*;
+
+// NOTE: this MUST match the same enum on the TS side.
+enum MassPropsMode {
+    Density = 0,
+    Mass,
+    MassProps,
+}
+
+#[wasm_bindgen]
+pub struct RawColliderSet(pub(crate) ColliderSet);
+
+impl RawColliderSet {
+    pub(crate) fn map<T>(&self, handle: FlatHandle, f: impl FnOnce(&Collider) -> T) -> T {
+        let collider = self
+            .0
+            .get(utils::collider_handle(handle))
+            .expect("Invalid Collider reference. It may have been removed from the physics World.");
+        f(collider)
+    }
+
+    pub(crate) fn map_mut<T>(
+        &mut self,
+        handle: FlatHandle,
+        f: impl FnOnce(&mut Collider) -> T,
+    ) -> T {
+        let collider = self
+            .0
+            .get_mut(utils::collider_handle(handle))
+            .expect("Invalid Collider reference. It may have been removed from the physics World.");
+        f(collider)
+    }
+
+    pub(crate) fn map_pair_mut<T>(
+        &mut self,
+        handle1: FlatHandle,
+        handle2: FlatHandle,
+        f: impl FnOnce(Option<&mut Collider>, Option<&mut Collider>) -> T,
+    ) -> T {
+        let (collider1, collider2) = self.0.get_pair_mut(
+            utils::collider_handle(handle1),
+            utils::collider_handle(handle2),
+        );
+        f(collider1, collider2)
+    }
+}
+
+impl RawColliderSet {
+    // This is a workaround because wasm-bindgen doesn't support the `cfg(feature = ...)`
+    // for the method arguments.
+    pub fn do_create_collider(
+        &mut self,
+        enabled: bool,
+        shape: &RawShape,
+        translation: &RawVector,
+        rotation: &RawRotation,
+        massPropsMode: u32,
+        mass: f32,
+        centerOfMass: &RawVector,
+        #[cfg(feature = "dim2")] principalAngularInertia: f32,
+        #[cfg(feature = "dim3")] principalAngularInertia: &RawVector,
+        #[cfg(feature = "dim3")] angularInertiaFrame: &RawRotation,
+        density: f32,
+        friction: f32,
+        restitution: f32,
+        frictionCombineRule: u32,
+        restitutionCombineRule: u32,
+        isSensor: bool,
+        collisionGroups: u32,
+        solverGroups: u32,
+        activeCollisionTypes: u16,
+        activeHooks: u32,
+        activeEvents: u32,
+        contactForceEventThreshold: f32,
+        contactSkin: f32,
+        hasParent: bool,
+        parent: FlatHandle,
+        bodies: &mut RawRigidBodySet,
+    ) -> Option<FlatHandle> {
+        let pos = Isometry::from_parts(translation.0.into(), rotation.0);
+        let mut builder = ColliderBuilder::new(shape.0.clone())
+            .enabled(enabled)
+            .position(pos)
+            .friction(friction)
+            .restitution(restitution)
+            .collision_groups(super::unpack_interaction_groups(collisionGroups))
+            .solver_groups(super::unpack_interaction_groups(solverGroups))
+            .active_hooks(ActiveHooks::from_bits(activeHooks).unwrap_or(ActiveHooks::empty()))
+            .active_events(ActiveEvents::from_bits(activeEvents).unwrap_or(ActiveEvents::empty()))
+            .active_collision_types(
+                ActiveCollisionTypes::from_bits(activeCollisionTypes)
+                    .unwrap_or(ActiveCollisionTypes::empty()),
+            )
+            .sensor(isSensor)
+            .friction_combine_rule(super::combine_rule_from_u32(frictionCombineRule))
+            .restitution_combine_rule(super::combine_rule_from_u32(restitutionCombineRule))
+            .contact_force_event_threshold(contactForceEventThreshold)
+            .contact_skin(contactSkin);
+
+        if massPropsMode == MassPropsMode::MassProps as u32 {
+            #[cfg(feature = "dim2")]
+            let mprops = MassProperties::new(centerOfMass.0.into(), mass, principalAngularInertia);
+            #[cfg(feature = "dim3")]
+            let mprops = MassProperties::with_principal_inertia_frame(
+                centerOfMass.0.into(),
+                mass,
+                principalAngularInertia.0,
+                angularInertiaFrame.0,
+            );
+            builder = builder.mass_properties(mprops);
+        } else if massPropsMode == MassPropsMode::Density as u32 {
+            builder = builder.density(density);
+        } else {
+            assert_eq!(massPropsMode, MassPropsMode::Mass as u32);
+            builder = builder.mass(mass);
+        };
+
+        let collider = builder.build();
+
+        if hasParent {
+            Some(utils::flat_handle(
+                self.0
+                    .insert_with_parent(collider, utils::body_handle(parent), &mut bodies.0)
+                    .0,
+            ))
+        } else {
+            Some(utils::flat_handle(self.0.insert(collider).0))
+        }
+    }
+}
+
+#[wasm_bindgen]
+impl RawColliderSet {
+    #[wasm_bindgen(constructor)]
+    pub fn new() -> Self {
+        RawColliderSet(ColliderSet::new())
+    }
+
+    pub fn len(&self) -> usize {
+        self.0.len()
+    }
+
+    pub fn contains(&self, handle: FlatHandle) -> bool {
+        self.0.get(utils::collider_handle(handle)).is_some()
+    }
+
+    #[cfg(feature = "dim2")]
+    pub fn createCollider(
+        &mut self,
+        enabled: bool,
+        shape: &RawShape,
+        translation: &RawVector,
+        rotation: &RawRotation,
+        massPropsMode: u32,
+        mass: f32,
+        centerOfMass: &RawVector,
+        principalAngularInertia: f32,
+        density: f32,
+        friction: f32,
+        restitution: f32,
+        frictionCombineRule: u32,
+        restitutionCombineRule: u32,
+        isSensor: bool,
+        collisionGroups: u32,
+        solverGroups: u32,
+        activeCollisionTypes: u16,
+        activeHooks: u32,
+        activeEvents: u32,
+        contactForceEventThreshold: f32,
+        contactSkin: f32,
+        hasParent: bool,
+        parent: FlatHandle,
+        bodies: &mut RawRigidBodySet,
+    ) -> Option<FlatHandle> {
+        self.do_create_collider(
+            enabled,
+            shape,
+            translation,
+            rotation,
+            massPropsMode,
+            mass,
+            centerOfMass,
+            principalAngularInertia,
+            density,
+            friction,
+            restitution,
+            frictionCombineRule,
+            restitutionCombineRule,
+            isSensor,
+            collisionGroups,
+            solverGroups,
+            activeCollisionTypes,
+            activeHooks,
+            activeEvents,
+            contactForceEventThreshold,
+            contactSkin,
+            hasParent,
+            parent,
+            bodies,
+        )
+    }
+
+    #[cfg(feature = "dim3")]
+    pub fn createCollider(
+        &mut self,
+        enabled: bool,
+        shape: &RawShape,
+        translation: &RawVector,
+        rotation: &RawRotation,
+        massPropsMode: u32,
+        mass: f32,
+        centerOfMass: &RawVector,
+        principalAngularInertia: &RawVector,
+        angularInertiaFrame: &RawRotation,
+        density: f32,
+        friction: f32,
+        restitution: f32,
+        frictionCombineRule: u32,
+        restitutionCombineRule: u32,
+        isSensor: bool,
+        collisionGroups: u32,
+        solverGroups: u32,
+        activeCollisionTypes: u16,
+        activeHooks: u32,
+        activeEvents: u32,
+        contactForceEventThreshold: f32,
+        contactSkin: f32,
+        hasParent: bool,
+        parent: FlatHandle,
+        bodies: &mut RawRigidBodySet,
+    ) -> Option<FlatHandle> {
+        self.do_create_collider(
+            enabled,
+            shape,
+            translation,
+            rotation,
+            massPropsMode,
+            mass,
+            centerOfMass,
+            principalAngularInertia,
+            angularInertiaFrame,
+            density,
+            friction,
+            restitution,
+            frictionCombineRule,
+            restitutionCombineRule,
+            isSensor,
+            collisionGroups,
+            solverGroups,
+            activeCollisionTypes,
+            activeHooks,
+            activeEvents,
+            contactForceEventThreshold,
+            contactSkin,
+            hasParent,
+            parent,
+            bodies,
+        )
+    }
+
+    /// Removes a collider from this set and wake-up the rigid-body it is attached to.
+    pub fn remove(
+        &mut self,
+        handle: FlatHandle,
+        islands: &mut RawIslandManager,
+        bodies: &mut RawRigidBodySet,
+        wakeUp: bool,
+    ) {
+        let handle = utils::collider_handle(handle);
+        self.0.remove(handle, &mut islands.0, &mut bodies.0, wakeUp);
+    }
+
+    /// Checks if a collider with the given integer handle exists.
+    pub fn isHandleValid(&self, handle: FlatHandle) -> bool {
+        self.0.get(utils::collider_handle(handle)).is_some()
+    }
+
+    /// Applies the given JavaScript function to the integer handle of each collider managed by this collider set.
+    ///
+    /// # Parameters
+    /// - `f(handle)`: the function to apply to the integer handle of each collider managed by this collider set. Called as `f(handle)`.
+    pub fn forEachColliderHandle(&self, f: &js_sys::Function) {
+        let this = JsValue::null();
+        for (handle, _) in self.0.iter() {
+            let _ = f.call1(&this, &JsValue::from(utils::flat_handle(handle.0)));
+        }
+    }
+}
diff --git a/thirdparty/rapier.js/src/geometry/contact.rs b/thirdparty/rapier.js/src/geometry/contact.rs
new file mode 100644
index 00000000..47043a27
--- /dev/null
+++ b/thirdparty/rapier.js/src/geometry/contact.rs
@@ -0,0 +1,31 @@
+use crate::math::RawVector;
+use rapier::parry::query;
+use wasm_bindgen::prelude::*;
+
+#[wasm_bindgen]
+pub struct RawShapeContact {
+    pub(crate) contact: query::Contact,
+}
+
+#[wasm_bindgen]
+impl RawShapeContact {
+    pub fn distance(&self) -> f32 {
+        self.contact.dist
+    }
+
+    pub fn point1(&self) -> RawVector {
+        self.contact.point1.coords.into()
+    }
+
+    pub fn point2(&self) -> RawVector {
+        self.contact.point2.coords.into()
+    }
+
+    pub fn normal1(&self) -> RawVector {
+        self.contact.normal1.into_inner().into()
+    }
+
+    pub fn normal2(&self) -> RawVector {
+        self.contact.normal2.into_inner().into()
+    }
+}
diff --git a/thirdparty/rapier.js/src/geometry/feature.rs b/thirdparty/rapier.js/src/geometry/feature.rs
new file mode 100644
index 00000000..96e8f511
--- /dev/null
+++ b/thirdparty/rapier.js/src/geometry/feature.rs
@@ -0,0 +1,47 @@
+use rapier::prelude::FeatureId;
+use wasm_bindgen::prelude::wasm_bindgen;
+
+#[cfg(feature = "dim2")]
+#[wasm_bindgen]
+#[derive(Copy, Clone)]
+pub enum RawFeatureType {
+    Vertex,
+    Face,
+    Unknown,
+}
+
+#[cfg(feature = "dim3")]
+#[wasm_bindgen]
+#[derive(Copy, Clone)]
+pub enum RawFeatureType {
+    Vertex,
+    Edge,
+    Face,
+    Unknown,
+}
+
+pub trait IntoTypeValue {
+    fn into_type(self) -> RawFeatureType;
+    fn into_value(self) -> Option<u32>;
+}
+
+impl IntoTypeValue for FeatureId {
+    fn into_type(self) -> RawFeatureType {
+        match self {
+            FeatureId::Vertex(_) => RawFeatureType::Vertex,
+            #[cfg(feature = "dim3")]
+            FeatureId::Edge(_) => RawFeatureType::Edge,
+            FeatureId::Face(_) => RawFeatureType::Face,
+            _ => RawFeatureType::Unknown,
+        }
+    }
+
+    fn into_value(self) -> Option<u32> {
+        match self {
+            FeatureId::Vertex(id) | FeatureId::Face(id) => Some(id),
+            #[cfg(feature = "dim3")]
+            FeatureId::Edge(id) => Some(id),
+            _ => None,
+        }
+    }
+}
diff --git a/thirdparty/rapier.js/src/geometry/mod.rs b/thirdparty/rapier.js/src/geometry/mod.rs
new file mode 100644
index 00000000..08918b88
--- /dev/null
+++ b/thirdparty/rapier.js/src/geometry/mod.rs
@@ -0,0 +1,49 @@
+//! Structures related to geometry: colliders, shapes, etc.
+
+pub use self::broad_phase::*;
+pub use self::collider_set::*;
+pub use self::contact::*;
+pub use self::feature::*;
+pub use self::narrow_phase::*;
+pub use self::point::*;
+pub use self::ray::*;
+pub use self::shape::*;
+pub use self::toi::*;
+
+mod broad_phase;
+mod collider;
+mod collider_set;
+mod contact;
+mod feature;
+mod narrow_phase;
+mod point;
+mod ray;
+mod shape;
+mod toi;
+
+use rapier::dynamics::CoefficientCombineRule;
+use rapier::geometry::InteractionGroups;
+use rapier::prelude::Group;
+
+pub const fn unpack_interaction_groups(memberships_filter: u32) -> InteractionGroups {
+    InteractionGroups::new(
+        Group::from_bits_retain((memberships_filter >> 16) as u32),
+        Group::from_bits_retain((memberships_filter & 0x0000_ffff) as u32),
+    )
+}
+
+pub const fn pack_interaction_groups(groups: InteractionGroups) -> u32 {
+    (groups.memberships.bits() << 16) | groups.filter.bits()
+}
+
+pub const fn combine_rule_from_u32(rule: u32) -> CoefficientCombineRule {
+    if rule == CoefficientCombineRule::Average as u32 {
+        CoefficientCombineRule::Average
+    } else if rule == CoefficientCombineRule::Min as u32 {
+        CoefficientCombineRule::Min
+    } else if rule == CoefficientCombineRule::Multiply as u32 {
+        CoefficientCombineRule::Multiply
+    } else {
+        CoefficientCombineRule::Max
+    }
+}
diff --git a/thirdparty/rapier.js/src/geometry/narrow_phase.rs b/thirdparty/rapier.js/src/geometry/narrow_phase.rs
new file mode 100644
index 00000000..be3fee25
--- /dev/null
+++ b/thirdparty/rapier.js/src/geometry/narrow_phase.rs
@@ -0,0 +1,217 @@
+use crate::math::RawVector;
+use crate::utils::{self, FlatHandle};
+use rapier::geometry::{ContactManifold, ContactPair, NarrowPhase};
+use rapier::math::Real;
+use wasm_bindgen::prelude::*;
+
+#[wasm_bindgen]
+pub struct RawNarrowPhase(pub(crate) NarrowPhase);
+
+#[wasm_bindgen]
+impl RawNarrowPhase {
+    #[wasm_bindgen(constructor)]
+    pub fn new() -> Self {
+        RawNarrowPhase(NarrowPhase::new())
+    }
+
+    pub fn contact_pairs_with(&self, handle1: FlatHandle, f: js_sys::Function) {
+        let this = JsValue::null();
+        let handle1 = utils::collider_handle(handle1);
+        for pair in self.0.contact_pairs_with(handle1) {
+            let handle2 = if pair.collider1 == handle1 {
+                utils::flat_handle(pair.collider2.0)
+            } else {
+                utils::flat_handle(pair.collider1.0)
+            };
+
+            let _ = f.call1(&this, &JsValue::from(handle2));
+        }
+    }
+
+    pub fn contact_pair(&self, handle1: FlatHandle, handle2: FlatHandle) -> Option<RawContactPair> {
+        let handle1 = utils::collider_handle(handle1);
+        let handle2 = utils::collider_handle(handle2);
+        self.0
+            .contact_pair(handle1, handle2)
+            .map(|p| RawContactPair(p as *const ContactPair))
+    }
+
+    pub fn intersection_pairs_with(&self, handle1: FlatHandle, f: js_sys::Function) {
+        let this = JsValue::null();
+        let handle1 = utils::collider_handle(handle1);
+        for (h1, h2, inter) in self.0.intersection_pairs_with(handle1) {
+            if inter {
+                let handle2 = if h1 == handle1 {
+                    utils::flat_handle(h2.0)
+                } else {
+                    utils::flat_handle(h1.0)
+                };
+
+                let _ = f.call1(&this, &JsValue::from(handle2));
+            }
+        }
+    }
+
+    pub fn intersection_pair(&self, handle1: FlatHandle, handle2: FlatHandle) -> bool {
+        let handle1 = utils::collider_handle(handle1);
+        let handle2 = utils::collider_handle(handle2);
+        self.0.intersection_pair(handle1, handle2) == Some(true)
+    }
+}
+
+#[wasm_bindgen]
+pub struct RawContactPair(*const ContactPair);
+#[wasm_bindgen]
+pub struct RawContactManifold(*const ContactManifold);
+
+// SAFETY: the use of a raw pointer is very unsafe.
+//         We need this because wasm-bindgen doesn't support
+//         lifetimes. So for the moment, we have to make sure
+//         that our TypeScript wrapper properly free the pair
+//         before the user has a chance to invalidate this pointer.
+#[wasm_bindgen]
+impl RawContactPair {
+    pub fn collider1(&self) -> FlatHandle {
+        unsafe { utils::flat_handle((*self.0).collider1.0) }
+    }
+
+    pub fn collider2(&self) -> FlatHandle {
+        unsafe { utils::flat_handle((*self.0).collider2.0) }
+    }
+
+    pub fn numContactManifolds(&self) -> usize {
+        unsafe { (*self.0).manifolds.len() }
+    }
+    pub fn contactManifold(&self, i: usize) -> Option<RawContactManifold> {
+        unsafe {
+            (&(*self.0).manifolds)
+                .get(i)
+                .map(|m| RawContactManifold(m as *const ContactManifold))
+        }
+    }
+}
+
+#[wasm_bindgen]
+impl RawContactManifold {
+    pub fn normal(&self) -> RawVector {
+        unsafe { RawVector((*self.0).data.normal) }
+    }
+
+    // pub fn user_data(&self) -> u32 {
+    //     unsafe { (*self.0).data.user_data }
+    // }
+
+    pub fn local_n1(&self) -> RawVector {
+        unsafe { (*self.0).local_n1.into() }
+    }
+
+    pub fn local_n2(&self) -> RawVector {
+        unsafe { (*self.0).local_n2.into() }
+    }
+
+    pub fn subshape1(&self) -> u32 {
+        unsafe { (*self.0).subshape1 }
+    }
+
+    pub fn subshape2(&self) -> u32 {
+        unsafe { (*self.0).subshape2 }
+    }
+
+    pub fn num_contacts(&self) -> usize {
+        unsafe { (*self.0).points.len() }
+    }
+
+    pub fn contact_local_p1(&self, i: usize) -> Option<RawVector> {
+        unsafe { (&(*self.0).points).get(i).map(|c| c.local_p1.coords.into()) }
+    }
+
+    pub fn contact_local_p2(&self, i: usize) -> Option<RawVector> {
+        unsafe { (&(*self.0).points).get(i).map(|c| c.local_p2.coords.into()) }
+    }
+
+    pub fn contact_dist(&self, i: usize) -> Real {
+        unsafe { (&(*self.0).points).get(i).map(|c| c.dist).unwrap_or(0.0) }
+    }
+
+    pub fn contact_fid1(&self, i: usize) -> u32 {
+        unsafe { (&(*self.0).points).get(i).map(|c| c.fid1.0).unwrap_or(0) }
+    }
+
+    pub fn contact_fid2(&self, i: usize) -> u32 {
+        unsafe { (&(*self.0).points).get(i).map(|c| c.fid2.0).unwrap_or(0) }
+    }
+
+    pub fn contact_impulse(&self, i: usize) -> Real {
+        unsafe {
+            (&(*self.0).points)
+                .get(i)
+                .map(|c| c.data.impulse)
+                .unwrap_or(0.0)
+        }
+    }
+
+    #[cfg(feature = "dim2")]
+    pub fn contact_tangent_impulse(&self, i: usize) -> Real {
+        unsafe {
+            (&(*self.0).points)
+                .get(i)
+                .map(|c| c.data.tangent_impulse.x)
+                .unwrap_or(0.0)
+        }
+    }
+
+    #[cfg(feature = "dim3")]
+    pub fn contact_tangent_impulse_x(&self, i: usize) -> Real {
+        unsafe {
+            (&(*self.0).points)
+                .get(i)
+                .map(|c| c.data.tangent_impulse.x)
+                .unwrap_or(0.0)
+        }
+    }
+
+    #[cfg(feature = "dim3")]
+    pub fn contact_tangent_impulse_y(&self, i: usize) -> Real {
+        unsafe {
+            (&(*self.0).points)
+                .get(i)
+                .map(|c| c.data.tangent_impulse.y)
+                .unwrap_or(0.0)
+        }
+    }
+
+    pub fn num_solver_contacts(&self) -> usize {
+        unsafe { (*self.0).data.solver_contacts.len() }
+    }
+
+    pub fn solver_contact_point(&self, i: usize) -> Option<RawVector> {
+        unsafe {
+            (&(*self.0).data)
+                .solver_contacts
+                .get(i)
+                .map(|c| c.point.coords.into())
+        }
+    }
+
+    pub fn solver_contact_dist(&self, i: usize) -> Real {
+        unsafe {
+            (&(*self.0).data)
+                .solver_contacts
+                .get(i)
+                .map(|c| c.dist)
+                .unwrap_or(0.0)
+        }
+    }
+
+    pub fn solver_contact_friction(&self, i: usize) -> Real {
+        unsafe { (&(*self.0).data).solver_contacts[i].friction }
+    }
+
+    pub fn solver_contact_restitution(&self, i: usize) -> Real {
+        unsafe { (&(*self.0).data).solver_contacts[i].restitution }
+    }
+
+    pub fn solver_contact_tangent_velocity(&self, i: usize) -> RawVector {
+        unsafe { (&(*self.0).data).solver_contacts[i].tangent_velocity.into() }
+    }
+}
diff --git a/thirdparty/rapier.js/src/geometry/point.rs b/thirdparty/rapier.js/src/geometry/point.rs
new file mode 100644
index 00000000..e7bb4a93
--- /dev/null
+++ b/thirdparty/rapier.js/src/geometry/point.rs
@@ -0,0 +1,53 @@
+use crate::geometry::feature::IntoTypeValue;
+use crate::geometry::RawFeatureType;
+use crate::math::RawVector;
+use crate::utils::{self, FlatHandle};
+use rapier::{
+    geometry::{ColliderHandle, PointProjection},
+    prelude::FeatureId,
+};
+use wasm_bindgen::prelude::*;
+
+#[wasm_bindgen]
+pub struct RawPointProjection(pub(crate) PointProjection);
+
+#[wasm_bindgen]
+impl RawPointProjection {
+    pub fn point(&self) -> RawVector {
+        self.0.point.coords.into()
+    }
+
+    pub fn isInside(&self) -> bool {
+        self.0.is_inside
+    }
+}
+
+#[wasm_bindgen]
+pub struct RawPointColliderProjection {
+    pub(crate) handle: ColliderHandle,
+    pub(crate) proj: PointProjection,
+    pub(crate) feature: FeatureId,
+}
+
+#[wasm_bindgen]
+impl RawPointColliderProjection {
+    pub fn colliderHandle(&self) -> FlatHandle {
+        utils::flat_handle(self.handle.0)
+    }
+
+    pub fn point(&self) -> RawVector {
+        self.proj.point.coords.into()
+    }
+
+    pub fn isInside(&self) -> bool {
+        self.proj.is_inside
+    }
+
+    pub fn featureType(&self) -> RawFeatureType {
+        self.feature.into_type()
+    }
+
+    pub fn featureId(&self) -> Option<u32> {
+        self.feature.into_value()
+    }
+}
diff --git a/thirdparty/rapier.js/src/geometry/ray.rs b/thirdparty/rapier.js/src/geometry/ray.rs
new file mode 100644
index 00000000..5285d5da
--- /dev/null
+++ b/thirdparty/rapier.js/src/geometry/ray.rs
@@ -0,0 +1,74 @@
+use crate::geometry::feature::IntoTypeValue;
+use crate::geometry::RawFeatureType;
+use crate::math::RawVector;
+use crate::utils::{self, FlatHandle};
+use rapier::geometry::{ColliderHandle, RayIntersection};
+use wasm_bindgen::prelude::*;
+
+#[wasm_bindgen]
+pub struct RawRayIntersection(pub(crate) RayIntersection);
+
+#[wasm_bindgen]
+impl RawRayIntersection {
+    pub fn normal(&self) -> RawVector {
+        self.0.normal.into()
+    }
+
+    pub fn time_of_impact(&self) -> f32 {
+        self.0.time_of_impact
+    }
+
+    pub fn featureType(&self) -> RawFeatureType {
+        self.0.feature.into_type()
+    }
+
+    pub fn featureId(&self) -> Option<u32> {
+        self.0.feature.into_value()
+    }
+}
+
+#[wasm_bindgen]
+pub struct RawRayColliderIntersection {
+    pub(crate) handle: ColliderHandle,
+    pub(crate) inter: RayIntersection,
+}
+
+#[wasm_bindgen]
+impl RawRayColliderIntersection {
+    pub fn colliderHandle(&self) -> FlatHandle {
+        utils::flat_handle(self.handle.0)
+    }
+
+    pub fn normal(&self) -> RawVector {
+        self.inter.normal.into()
+    }
+
+    pub fn time_of_impact(&self) -> f32 {
+        self.inter.time_of_impact
+    }
+
+    pub fn featureType(&self) -> RawFeatureType {
+        self.inter.feature.into_type()
+    }
+
+    pub fn featureId(&self) -> Option<u32> {
+        self.inter.feature.into_value()
+    }
+}
+
+#[wasm_bindgen]
+pub struct RawRayColliderHit {
+    pub(crate) handle: ColliderHandle,
+    pub(crate) timeOfImpact: f32,
+}
+
+#[wasm_bindgen]
+impl RawRayColliderHit {
+    pub fn colliderHandle(&self) -> FlatHandle {
+        utils::flat_handle(self.handle.0)
+    }
+
+    pub fn timeOfImpact(&self) -> f32 {
+        self.timeOfImpact
+    }
+}
diff --git a/thirdparty/rapier.js/src/geometry/shape.rs b/thirdparty/rapier.js/src/geometry/shape.rs
new file mode 100644
index 00000000..5f01d9f5
--- /dev/null
+++ b/thirdparty/rapier.js/src/geometry/shape.rs
@@ -0,0 +1,527 @@
+use crate::geometry::{RawPointProjection, RawRayIntersection, RawShapeCastHit, RawShapeContact};
+use crate::math::{RawRotation, RawVector};
+#[cfg(feature = "dim3")]
+use na::DMatrix;
+#[cfg(feature = "dim2")]
+use na::DVector;
+use na::Unit;
+use rapier::geometry::{Shape, SharedShape, TriMeshFlags};
+use rapier::math::{Isometry, Point, Real, Vector, DIM};
+use rapier::parry::query;
+use rapier::parry::query::{Ray, ShapeCastOptions};
+use wasm_bindgen::prelude::*;
+
+pub trait SharedShapeUtility {
+    fn castShape(
+        &self,
+        shapePos1: &Isometry<Real>,
+        shapeVel1: &Vector<Real>,
+        shape2: &dyn Shape,
+        shapePos2: &Isometry<Real>,
+        shapeVel2: &Vector<Real>,
+        target_distance: f32,
+        maxToi: f32,
+        stop_at_penetration: bool,
+    ) -> Option<RawShapeCastHit>;
+
+    fn intersectsShape(
+        &self,
+        shapePos1: &Isometry<Real>,
+        shape2: &dyn Shape,
+        shapePos2: &Isometry<Real>,
+    ) -> bool;
+
+    fn contactShape(
+        &self,
+        shapePos1: &Isometry<Real>,
+        shape2: &dyn Shape,
+        shapePos2: &Isometry<Real>,
+        prediction: f32,
+    ) -> Option<RawShapeContact>;
+
+    fn containsPoint(&self, shapePos: &Isometry<Real>, point: &Point<Real>) -> bool;
+
+    fn projectPoint(
+        &self,
+        shapePos: &Isometry<Real>,
+        point: &Point<Real>,
+        solid: bool,
+    ) -> RawPointProjection;
+
+    fn intersectsRay(
+        &self,
+        shapePos: &Isometry<Real>,
+        rayOrig: Point<Real>,
+        rayDir: Vector<Real>,
+        maxToi: f32,
+    ) -> bool;
+
+    fn castRay(
+        &self,
+        shapePos: &Isometry<Real>,
+        rayOrig: Point<Real>,
+        rayDir: Vector<Real>,
+        maxToi: f32,
+        solid: bool,
+    ) -> f32;
+
+    fn castRayAndGetNormal(
+        &self,
+        shapePos: &Isometry<Real>,
+        rayOrig: Point<Real>,
+        rayDir: Vector<Real>,
+        maxToi: f32,
+        solid: bool,
+    ) -> Option<RawRayIntersection>;
+}
+
+// for RawShape & Collider
+impl SharedShapeUtility for SharedShape {
+    fn castShape(
+        &self,
+        shapePos1: &Isometry<Real>,
+        shapeVel1: &Vector<Real>,
+        shape2: &dyn Shape,
+        shapePos2: &Isometry<Real>,
+        shapeVel2: &Vector<Real>,
+        target_distance: f32,
+        maxToi: f32,
+        stop_at_penetration: bool,
+    ) -> Option<RawShapeCastHit> {
+        query::cast_shapes(
+            shapePos1,
+            shapeVel1,
+            &*self.0,
+            shapePos2,
+            &shapeVel2,
+            shape2,
+            ShapeCastOptions {
+                max_time_of_impact: maxToi,
+                target_distance,
+                stop_at_penetration,
+                compute_impact_geometry_on_penetration: true,
+            },
+        )
+        .ok()
+        .flatten()
+        .map(|hit| RawShapeCastHit { hit })
+    }
+
+    fn intersectsShape(
+        &self,
+        shapePos1: &Isometry<Real>,
+        shape2: &dyn Shape,
+        shapePos2: &Isometry<Real>,
+    ) -> bool {
+        query::intersection_test(shapePos1, &*self.0, shapePos2, shape2).unwrap_or(false)
+    }
+
+    fn contactShape(
+        &self,
+        shapePos1: &Isometry<Real>,
+        shape2: &dyn Shape,
+        shapePos2: &Isometry<Real>,
+        prediction: f32,
+    ) -> Option<RawShapeContact> {
+        query::contact(shapePos1, &*self.0, shapePos2, shape2, prediction)
+            .ok()
+            .flatten()
+            .map(|contact| RawShapeContact { contact })
+    }
+
+    fn containsPoint(&self, shapePos: &Isometry<Real>, point: &Point<Real>) -> bool {
+        self.as_ref().contains_point(shapePos, point)
+    }
+
+    fn projectPoint(
+        &self,
+        shapePos: &Isometry<Real>,
+        point: &Point<Real>,
+        solid: bool,
+    ) -> RawPointProjection {
+        RawPointProjection(self.as_ref().project_point(shapePos, point, solid))
+    }
+
+    fn intersectsRay(
+        &self,
+        shapePos: &Isometry<Real>,
+        rayOrig: Point<Real>,
+        rayDir: Vector<Real>,
+        maxToi: f32,
+    ) -> bool {
+        self.as_ref()
+            .intersects_ray(shapePos, &Ray::new(rayOrig, rayDir), maxToi)
+    }
+
+    fn castRay(
+        &self,
+        shapePos: &Isometry<Real>,
+        rayOrig: Point<Real>,
+        rayDir: Vector<Real>,
+        maxToi: f32,
+        solid: bool,
+    ) -> f32 {
+        self.as_ref()
+            .cast_ray(shapePos, &Ray::new(rayOrig, rayDir), maxToi, solid)
+            .unwrap_or(-1.0) // Negative value = no hit.
+    }
+
+    fn castRayAndGetNormal(
+        &self,
+        shapePos: &Isometry<Real>,
+        rayOrig: Point<Real>,
+        rayDir: Vector<Real>,
+        maxToi: f32,
+        solid: bool,
+    ) -> Option<RawRayIntersection> {
+        self.as_ref()
+            .cast_ray_and_get_normal(shapePos, &Ray::new(rayOrig, rayDir), maxToi, solid)
+            .map(|inter| RawRayIntersection(inter))
+    }
+}
+
+#[wasm_bindgen]
+#[cfg(feature = "dim2")]
+pub enum RawShapeType {
+    Ball = 0,
+    Cuboid = 1,
+    Capsule = 2,
+    Segment = 3,
+    Polyline = 4,
+    Triangle = 5,
+    TriMesh = 6,
+    HeightField = 7,
+    Compound = 8,
+    ConvexPolygon = 9,
+    RoundCuboid = 10,
+    RoundTriangle = 11,
+    RoundConvexPolygon = 12,
+    HalfSpace = 13,
+    Voxels = 14,
+}
+
+#[wasm_bindgen]
+#[cfg(feature = "dim3")]
+pub enum RawShapeType {
+    Ball = 0,
+    Cuboid = 1,
+    Capsule = 2,
+    Segment = 3,
+    Polyline = 4,
+    Triangle = 5,
+    TriMesh = 6,
+    HeightField = 7,
+    Compound = 8,
+    ConvexPolyhedron = 9,
+    Cylinder = 10,
+    Cone = 11,
+    RoundCuboid = 12,
+    RoundTriangle = 13,
+    RoundCylinder = 14,
+    RoundCone = 15,
+    RoundConvexPolyhedron = 16,
+    HalfSpace = 17,
+    Voxels = 18,
+}
+
+#[wasm_bindgen]
+pub struct RawShape(pub(crate) SharedShape);
+
+#[wasm_bindgen]
+impl RawShape {
+    #[cfg(feature = "dim2")]
+    pub fn cuboid(hx: f32, hy: f32) -> Self {
+        Self(SharedShape::cuboid(hx, hy))
+    }
+
+    #[cfg(feature = "dim3")]
+    pub fn cuboid(hx: f32, hy: f32, hz: f32) -> Self {
+        Self(SharedShape::cuboid(hx, hy, hz))
+    }
+
+    #[cfg(feature = "dim2")]
+    pub fn roundCuboid(hx: f32, hy: f32, borderRadius: f32) -> Self {
+        Self(SharedShape::round_cuboid(hx, hy, borderRadius))
+    }
+
+    #[cfg(feature = "dim3")]
+    pub fn roundCuboid(hx: f32, hy: f32, hz: f32, borderRadius: f32) -> Self {
+        Self(SharedShape::round_cuboid(hx, hy, hz, borderRadius))
+    }
+
+    pub fn ball(radius: f32) -> Self {
+        Self(SharedShape::ball(radius))
+    }
+
+    pub fn halfspace(normal: &RawVector) -> Self {
+        Self(SharedShape::halfspace(Unit::new_normalize(normal.0)))
+    }
+
+    pub fn capsule(halfHeight: f32, radius: f32) -> Self {
+        let p2 = Point::from(Vector::y() * halfHeight);
+        let p1 = -p2;
+        Self(SharedShape::capsule(p1, p2, radius))
+    }
+
+    #[cfg(feature = "dim3")]
+    pub fn cylinder(halfHeight: f32, radius: f32) -> Self {
+        Self(SharedShape::cylinder(halfHeight, radius))
+    }
+
+    #[cfg(feature = "dim3")]
+    pub fn roundCylinder(halfHeight: f32, radius: f32, borderRadius: f32) -> Self {
+        Self(SharedShape::round_cylinder(
+            halfHeight,
+            radius,
+            borderRadius,
+        ))
+    }
+
+    #[cfg(feature = "dim3")]
+    pub fn cone(halfHeight: f32, radius: f32) -> Self {
+        Self(SharedShape::cone(halfHeight, radius))
+    }
+
+    #[cfg(feature = "dim3")]
+    pub fn roundCone(halfHeight: f32, radius: f32, borderRadius: f32) -> Self {
+        Self(SharedShape::round_cone(halfHeight, radius, borderRadius))
+    }
+
+    pub fn voxels(voxel_size: &RawVector, grid_coords: Vec<i32>) -> Self {
+        let grid_coords: Vec<_> = grid_coords
+            .chunks_exact(DIM)
+            .map(Point::from_slice)
+            .collect();
+        Self(SharedShape::voxels(voxel_size.0, &grid_coords))
+    }
+
+    pub fn voxelsFromPoints(voxel_size: &RawVector, points: Vec<f32>) -> Self {
+        let points: Vec<_> = points.chunks_exact(DIM).map(Point::from_slice).collect();
+        Self(SharedShape::voxels_from_points(voxel_size.0, &points))
+    }
+
+    pub fn polyline(vertices: Vec<f32>, indices: Vec<u32>) -> Self {
+        let vertices = vertices.chunks(DIM).map(|v| Point::from_slice(v)).collect();
+        let indices: Vec<_> = indices.chunks(2).map(|v| [v[0], v[1]]).collect();
+        if indices.is_empty() {
+            Self(SharedShape::polyline(vertices, None))
+        } else {
+            Self(SharedShape::polyline(vertices, Some(indices)))
+        }
+    }
+
+    pub fn trimesh(vertices: Vec<f32>, indices: Vec<u32>, flags: u32) -> Option<RawShape> {
+        let flags = TriMeshFlags::from_bits(flags as u16).unwrap_or_default();
+        let vertices = vertices.chunks(DIM).map(|v| Point::from_slice(v)).collect();
+        let indices = indices.chunks(3).map(|v| [v[0], v[1], v[2]]).collect();
+        SharedShape::trimesh_with_flags(vertices, indices, flags)
+            .ok()
+            .map(Self)
+    }
+
+    #[cfg(feature = "dim2")]
+    pub fn heightfield(heights: Vec<f32>, scale: &RawVector) -> Self {
+        let heights = DVector::from_vec(heights);
+        Self(SharedShape::heightfield(heights, scale.0))
+    }
+
+    #[cfg(feature = "dim3")]
+    pub fn heightfield(
+        nrows: u32,
+        ncols: u32,
+        heights: Vec<f32>,
+        scale: &RawVector,
+        flags: u32,
+    ) -> Self {
+        let flags =
+            rapier::parry::shape::HeightFieldFlags::from_bits(flags as u8).unwrap_or_default();
+        let heights = DMatrix::from_vec(nrows as usize + 1, ncols as usize + 1, heights);
+        Self(SharedShape::heightfield_with_flags(heights, scale.0, flags))
+    }
+
+    pub fn segment(p1: &RawVector, p2: &RawVector) -> Self {
+        Self(SharedShape::segment(p1.0.into(), p2.0.into()))
+    }
+
+    pub fn triangle(p1: &RawVector, p2: &RawVector, p3: &RawVector) -> Self {
+        Self(SharedShape::triangle(p1.0.into(), p2.0.into(), p3.0.into()))
+    }
+
+    pub fn roundTriangle(
+        p1: &RawVector,
+        p2: &RawVector,
+        p3: &RawVector,
+        borderRadius: f32,
+    ) -> Self {
+        Self(SharedShape::round_triangle(
+            p1.0.into(),
+            p2.0.into(),
+            p3.0.into(),
+            borderRadius,
+        ))
+    }
+
+    pub fn convexHull(points: Vec<f32>) -> Option<RawShape> {
+        let points: Vec<_> = points.chunks(DIM).map(|v| Point::from_slice(v)).collect();
+        SharedShape::convex_hull(&points).map(|s| Self(s))
+    }
+
+    pub fn roundConvexHull(points: Vec<f32>, borderRadius: f32) -> Option<RawShape> {
+        let points: Vec<_> = points.chunks(DIM).map(|v| Point::from_slice(v)).collect();
+        SharedShape::round_convex_hull(&points, borderRadius).map(|s| Self(s))
+    }
+
+    #[cfg(feature = "dim2")]
+    pub fn convexPolyline(vertices: Vec<f32>) -> Option<RawShape> {
+        let vertices = vertices.chunks(DIM).map(|v| Point::from_slice(v)).collect();
+        SharedShape::convex_polyline(vertices).map(|s| Self(s))
+    }
+
+    #[cfg(feature = "dim2")]
+    pub fn roundConvexPolyline(vertices: Vec<f32>, borderRadius: f32) -> Option<RawShape> {
+        let vertices = vertices.chunks(DIM).map(|v| Point::from_slice(v)).collect();
+        SharedShape::round_convex_polyline(vertices, borderRadius).map(|s| Self(s))
+    }
+
+    #[cfg(feature = "dim3")]
+    pub fn convexMesh(vertices: Vec<f32>, indices: Vec<u32>) -> Option<RawShape> {
+        let vertices = vertices.chunks(DIM).map(|v| Point::from_slice(v)).collect();
+        let indices: Vec<_> = indices.chunks(3).map(|v| [v[0], v[1], v[2]]).collect();
+        SharedShape::convex_mesh(vertices, &indices).map(|s| Self(s))
+    }
+
+    #[cfg(feature = "dim3")]
+    pub fn roundConvexMesh(
+        vertices: Vec<f32>,
+        indices: Vec<u32>,
+        borderRadius: f32,
+    ) -> Option<RawShape> {
+        let vertices = vertices.chunks(DIM).map(|v| Point::from_slice(v)).collect();
+        let indices: Vec<_> = indices.chunks(3).map(|v| [v[0], v[1], v[2]]).collect();
+        SharedShape::round_convex_mesh(vertices, &indices, borderRadius).map(|s| Self(s))
+    }
+
+    pub fn castShape(
+        &self,
+        shapePos1: &RawVector,
+        shapeRot1: &RawRotation,
+        shapeVel1: &RawVector,
+        shape2: &RawShape,
+        shapePos2: &RawVector,
+        shapeRot2: &RawRotation,
+        shapeVel2: &RawVector,
+        target_distance: f32,
+        maxToi: f32,
+        stop_at_penetration: bool,
+    ) -> Option<RawShapeCastHit> {
+        let pos1 = Isometry::from_parts(shapePos1.0.into(), shapeRot1.0);
+        let pos2 = Isometry::from_parts(shapePos2.0.into(), shapeRot2.0);
+
+        self.0.castShape(
+            &pos1,
+            &shapeVel1.0,
+            &*shape2.0,
+            &pos2,
+            &shapeVel2.0,
+            target_distance,
+            maxToi,
+            stop_at_penetration,
+        )
+    }
+
+    pub fn intersectsShape(
+        &self,
+        shapePos1: &RawVector,
+        shapeRot1: &RawRotation,
+        shape2: &RawShape,
+        shapePos2: &RawVector,
+        shapeRot2: &RawRotation,
+    ) -> bool {
+        let pos1 = Isometry::from_parts(shapePos1.0.into(), shapeRot1.0);
+        let pos2 = Isometry::from_parts(shapePos2.0.into(), shapeRot2.0);
+
+        self.0.intersectsShape(&pos1, &*shape2.0, &pos2)
+    }
+
+    pub fn contactShape(
+        &self,
+        shapePos1: &RawVector,
+        shapeRot1: &RawRotation,
+        shape2: &RawShape,
+        shapePos2: &RawVector,
+        shapeRot2: &RawRotation,
+        prediction: f32,
+    ) -> Option<RawShapeContact> {
+        let pos1 = Isometry::from_parts(shapePos1.0.into(), shapeRot1.0);
+        let pos2 = Isometry::from_parts(shapePos2.0.into(), shapeRot2.0);
+
+        self.0.contactShape(&pos1, &*shape2.0, &pos2, prediction)
+    }
+
+    pub fn containsPoint(
+        &self,
+        shapePos: &RawVector,
+        shapeRot: &RawRotation,
+        point: &RawVector,
+    ) -> bool {
+        let pos = Isometry::from_parts(shapePos.0.into(), shapeRot.0);
+
+        self.0.containsPoint(&pos, &point.0.into())
+    }
+
+    pub fn projectPoint(
+        &self,
+        shapePos: &RawVector,
+        shapeRot: &RawRotation,
+        point: &RawVector,
+        solid: bool,
+    ) -> RawPointProjection {
+        let pos = Isometry::from_parts(shapePos.0.into(), shapeRot.0);
+
+        self.0.projectPoint(&pos, &point.0.into(), solid)
+    }
+
+    pub fn intersectsRay(
+        &self,
+        shapePos: &RawVector,
+        shapeRot: &RawRotation,
+        rayOrig: &RawVector,
+        rayDir: &RawVector,
+        maxToi: f32,
+    ) -> bool {
+        let pos = Isometry::from_parts(shapePos.0.into(), shapeRot.0);
+
+        self.0
+            .intersectsRay(&pos, rayOrig.0.into(), rayDir.0.into(), maxToi)
+    }
+
+    pub fn castRay(
+        &self,
+        shapePos: &RawVector,
+        shapeRot: &RawRotation,
+        rayOrig: &RawVector,
+        rayDir: &RawVector,
+        maxToi: f32,
+        solid: bool,
+    ) -> f32 {
+        let pos = Isometry::from_parts(shapePos.0.into(), shapeRot.0);
+
+        self.0
+            .castRay(&pos, rayOrig.0.into(), rayDir.0.into(), maxToi, solid)
+    }
+
+    pub fn castRayAndGetNormal(
+        &self,
+        shapePos: &RawVector,
+        shapeRot: &RawRotation,
+        rayOrig: &RawVector,
+        rayDir: &RawVector,
+        maxToi: f32,
+        solid: bool,
+    ) -> Option<RawRayIntersection> {
+        let pos = Isometry::from_parts(shapePos.0.into(), shapeRot.0);
+
+        self.0
+            .castRayAndGetNormal(&pos, rayOrig.0.into(), rayDir.0.into(), maxToi, solid)
+    }
+}
diff --git a/thirdparty/rapier.js/src/geometry/toi.rs b/thirdparty/rapier.js/src/geometry/toi.rs
new file mode 100644
index 00000000..1e00675d
--- /dev/null
+++ b/thirdparty/rapier.js/src/geometry/toi.rs
@@ -0,0 +1,65 @@
+use crate::math::RawVector;
+use crate::utils::{self, FlatHandle};
+use rapier::geometry::{ColliderHandle, ShapeCastHit};
+use wasm_bindgen::prelude::*;
+
+#[wasm_bindgen]
+pub struct RawShapeCastHit {
+    pub(crate) hit: ShapeCastHit,
+}
+
+#[wasm_bindgen]
+impl RawShapeCastHit {
+    pub fn time_of_impact(&self) -> f32 {
+        self.hit.time_of_impact
+    }
+
+    pub fn witness1(&self) -> RawVector {
+        self.hit.witness1.coords.into()
+    }
+
+    pub fn witness2(&self) -> RawVector {
+        self.hit.witness2.coords.into()
+    }
+
+    pub fn normal1(&self) -> RawVector {
+        self.hit.normal1.into_inner().into()
+    }
+
+    pub fn normal2(&self) -> RawVector {
+        self.hit.normal2.into_inner().into()
+    }
+}
+
+#[wasm_bindgen]
+pub struct RawColliderShapeCastHit {
+    pub(crate) handle: ColliderHandle,
+    pub(crate) hit: ShapeCastHit,
+}
+
+#[wasm_bindgen]
+impl RawColliderShapeCastHit {
+    pub fn colliderHandle(&self) -> FlatHandle {
+        utils::flat_handle(self.handle.0)
+    }
+
+    pub fn time_of_impact(&self) -> f32 {
+        self.hit.time_of_impact
+    }
+
+    pub fn witness1(&self) -> RawVector {
+        self.hit.witness1.coords.into()
+    }
+
+    pub fn witness2(&self) -> RawVector {
+        self.hit.witness2.coords.into()
+    }
+
+    pub fn normal1(&self) -> RawVector {
+        self.hit.normal1.into_inner().into()
+    }
+
+    pub fn normal2(&self) -> RawVector {
+        self.hit.normal2.into_inner().into()
+    }
+}
diff --git a/thirdparty/rapier.js/src/lib.rs b/thirdparty/rapier.js/src/lib.rs
new file mode 100644
index 00000000..132809dc
--- /dev/null
+++ b/thirdparty/rapier.js/src/lib.rs
@@ -0,0 +1,32 @@
+//! # Rapier
+//! Fast and deterministic WASM physics engine.
+
+#![allow(non_snake_case)] // JS uses camelCase, so we will follow its convention for the generated bindings.
+                          // #![deny(missing_docs)]
+
+extern crate nalgebra as na;
+#[cfg(feature = "dim2")]
+extern crate rapier2d as rapier;
+#[cfg(feature = "dim3")]
+extern crate rapier3d as rapier;
+#[macro_use]
+extern crate serde;
+
+#[wasm_bindgen::prelude::wasm_bindgen]
+pub fn version() -> String {
+    env!("CARGO_PKG_VERSION").to_string()
+}
+
+#[wasm_bindgen::prelude::wasm_bindgen]
+pub fn reserve_memory(extra_bytes_count: u32) {
+    let mut unused: Vec<u8> = vec![];
+    unused.reserve(extra_bytes_count as usize);
+    std::hint::black_box(&unused);
+}
+
+pub mod control;
+pub mod dynamics;
+pub mod geometry;
+pub mod math;
+pub mod pipeline;
+pub mod utils;
diff --git a/thirdparty/rapier.js/src/math.rs b/thirdparty/rapier.js/src/math.rs
new file mode 100644
index 00000000..5c50c142
--- /dev/null
+++ b/thirdparty/rapier.js/src/math.rs
@@ -0,0 +1,266 @@
+//! Linear algebra primitives.
+
+#[cfg(feature = "dim3")]
+use js_sys::Float32Array;
+#[cfg(feature = "dim3")]
+use na::{Quaternion, Unit};
+#[cfg(feature = "dim3")]
+use rapier::math::Real;
+use rapier::math::{Point, Rotation, Vector};
+#[cfg(feature = "dim3")]
+use rapier::parry::utils::SdpMatrix3;
+use wasm_bindgen::prelude::*;
+
+#[wasm_bindgen]
+#[repr(transparent)]
+#[derive(Copy, Clone)]
+/// A rotation quaternion.
+pub struct RawRotation(pub(crate) Rotation<f32>);
+
+impl From<Rotation<f32>> for RawRotation {
+    fn from(v: Rotation<f32>) -> Self {
+        RawRotation(v)
+    }
+}
+
+#[wasm_bindgen]
+#[cfg(feature = "dim2")]
+/// A unit complex number describing the orientation of a Rapier entity.
+impl RawRotation {
+    /// The identity rotation.
+    pub fn identity() -> Self {
+        Self(Rotation::identity())
+    }
+
+    /// The rotation with thegiven angle.
+    pub fn fromAngle(angle: f32) -> Self {
+        Self(Rotation::new(angle))
+    }
+
+    /// The imaginary part of this complex number.
+    #[wasm_bindgen(getter)]
+    pub fn im(&self) -> f32 {
+        self.0.im
+    }
+
+    /// The real part of this complex number.
+    #[wasm_bindgen(getter)]
+    pub fn re(&self) -> f32 {
+        self.0.re
+    }
+
+    /// The rotation angle in radians.
+    #[wasm_bindgen(getter)]
+    pub fn angle(&self) -> f32 {
+        self.0.angle()
+    }
+}
+
+#[wasm_bindgen]
+#[cfg(feature = "dim3")]
+/// A unit quaternion describing the orientation of a Rapier entity.
+impl RawRotation {
+    #[wasm_bindgen(constructor)]
+    pub fn new(x: f32, y: f32, z: f32, w: f32) -> Self {
+        RawRotation(Unit::new_unchecked(Quaternion::new(w, x, y, z)))
+    }
+
+    /// The identity quaternion.
+    pub fn identity() -> Self {
+        Self(Rotation::identity())
+    }
+
+    /// The `x` component of this quaternion.
+    #[wasm_bindgen(getter)]
+    pub fn x(&self) -> f32 {
+        self.0.i
+    }
+
+    /// The `y` component of this quaternion.
+    #[wasm_bindgen(getter)]
+    pub fn y(&self) -> f32 {
+        self.0.j
+    }
+
+    /// The `z` component of this quaternion.
+    #[wasm_bindgen(getter)]
+    pub fn z(&self) -> f32 {
+        self.0.k
+    }
+
+    /// The `w` component of this quaternion.
+    #[wasm_bindgen(getter)]
+    pub fn w(&self) -> f32 {
+        self.0.w
+    }
+}
+
+#[wasm_bindgen]
+#[repr(transparent)]
+#[derive(Copy, Clone)]
+/// A vector.
+pub struct RawVector(pub(crate) Vector<f32>);
+
+impl From<Vector<f32>> for RawVector {
+    fn from(v: Vector<f32>) -> Self {
+        RawVector(v)
+    }
+}
+
+impl From<Point<f32>> for RawVector {
+    fn from(pt: Point<f32>) -> Self {
+        pt.coords.into()
+    }
+}
+
+#[wasm_bindgen]
+impl RawVector {
+    /// Creates a new vector filled with zeros.
+    pub fn zero() -> Self {
+        Self(Vector::zeros())
+    }
+
+    /// Creates a new 2D vector from its two components.
+    ///
+    /// # Parameters
+    /// - `x`: the `x` component of this 2D vector.
+    /// - `y`: the `y` component of this 2D vector.
+    #[cfg(feature = "dim2")]
+    #[wasm_bindgen(constructor)]
+    pub fn new(x: f32, y: f32) -> Self {
+        Self(Vector::new(x, y))
+    }
+
+    /// Creates a new 3D vector from its two components.
+    ///
+    /// # Parameters
+    /// - `x`: the `x` component of this 3D vector.
+    /// - `y`: the `y` component of this 3D vector.
+    /// - `z`: the `z` component of this 3D vector.
+    #[cfg(feature = "dim3")]
+    #[wasm_bindgen(constructor)]
+    pub fn new(x: f32, y: f32, z: f32) -> Self {
+        Self(Vector::new(x, y, z))
+    }
+
+    /// The `x` component of this vector.
+    #[wasm_bindgen(getter)]
+    pub fn x(&self) -> f32 {
+        self.0.x
+    }
+
+    /// Sets the `x` component of this vector.
+    #[wasm_bindgen(setter)]
+    pub fn set_x(&mut self, x: f32) {
+        self.0.x = x
+    }
+
+    /// The `y` component of this vector.
+    #[wasm_bindgen(getter)]
+    pub fn y(&self) -> f32 {
+        self.0.y
+    }
+
+    /// Sets the `y` component of this vector.
+    #[wasm_bindgen(setter)]
+    pub fn set_y(&mut self, y: f32) {
+        self.0.y = y
+    }
+
+    /// The `z` component of this vector.
+    #[cfg(feature = "dim3")]
+    #[wasm_bindgen(getter)]
+    pub fn z(&self) -> f32 {
+        self.0.z
+    }
+
+    /// Sets the `z` component of this vector.
+    #[cfg(feature = "dim3")]
+    #[wasm_bindgen(setter)]
+    pub fn set_z(&mut self, z: f32) {
+        self.0.z = z
+    }
+
+    /// Create a new 2D vector from this vector with its components rearranged as `{x, y}`.
+    #[cfg(feature = "dim2")]
+    pub fn xy(&self) -> Self {
+        Self(self.0.xy())
+    }
+
+    /// Create a new 2D vector from this vector with its components rearranged as `{y, x}`.
+    #[cfg(feature = "dim2")]
+    pub fn yx(&self) -> Self {
+        Self(self.0.yx())
+    }
+
+    /// Create a new 2D vector from this vector with its components rearranged as `{z, y}`.
+    #[cfg(feature = "dim2")]
+    #[cfg(feature = "dim3")]
+    pub fn zy(&self) -> Self {
+        Self(self.0.zy())
+    }
+
+    /// Create a new 3D vector from this vector with its components rearranged as `{x, y, z}`.
+    ///
+    /// This will effectively return a copy of `this`. This method exist for completeness with the
+    /// other swizzling functions.
+    #[cfg(feature = "dim3")]
+    pub fn xyz(&self) -> Self {
+        Self(self.0.xyz())
+    }
+
+    /// Create a new 3D vector from this vector with its components rearranged as `{y, x, z}`.
+    #[cfg(feature = "dim3")]
+    pub fn yxz(&self) -> Self {
+        Self(self.0.yxz())
+    }
+
+    /// Create a new 3D vector from this vector with its components rearranged as `{z, x, y}`.
+    #[cfg(feature = "dim3")]
+    pub fn zxy(&self) -> Self {
+        Self(self.0.zxy())
+    }
+
+    /// Create a new 3D vector from this vector with its components rearranged as `{x, z, y}`.
+    #[cfg(feature = "dim3")]
+    pub fn xzy(&self) -> Self {
+        Self(self.0.xzy())
+    }
+
+    /// Create a new 3D vector from this vector with its components rearranged as `{y, z, x}`.
+    #[cfg(feature = "dim3")]
+    pub fn yzx(&self) -> Self {
+        Self(self.0.yzx())
+    }
+
+    /// Create a new 3D vector from this vector with its components rearranged as `{z, y, x}`.
+    #[cfg(feature = "dim3")]
+    pub fn zyx(&self) -> Self {
+        Self(self.0.zyx())
+    }
+}
+
+#[wasm_bindgen]
+#[repr(transparent)]
+#[derive(Copy, Clone)]
+#[cfg(feature = "dim3")]
+pub struct RawSdpMatrix3(pub(crate) SdpMatrix3<Real>);
+
+#[cfg(feature = "dim3")]
+impl From<SdpMatrix3<Real>> for RawSdpMatrix3 {
+    fn from(v: SdpMatrix3<Real>) -> Self {
+        RawSdpMatrix3(v)
+    }
+}
+
+#[wasm_bindgen]
+#[cfg(feature = "dim3")]
+impl RawSdpMatrix3 {
+    /// Row major list of the upper-triangular part of the symmetric matrix.
+    pub fn elements(&self) -> Float32Array {
+        let m = self.0;
+        let output = Float32Array::new_with_length(6);
+        output.copy_from(&[m.m11, m.m12, m.m13, m.m22, m.m23, m.m33]);
+        output
+    }
+}
diff --git a/thirdparty/rapier.js/src/pipeline/debug_render_pipeline.rs b/thirdparty/rapier.js/src/pipeline/debug_render_pipeline.rs
new file mode 100644
index 00000000..1676e59b
--- /dev/null
+++ b/thirdparty/rapier.js/src/pipeline/debug_render_pipeline.rs
@@ -0,0 +1,152 @@
+use crate::dynamics::{RawImpulseJointSet, RawMultibodyJointSet, RawRigidBodySet};
+use crate::geometry::{RawColliderSet, RawNarrowPhase};
+use js_sys::Float32Array;
+use palette::convert::IntoColorUnclamped;
+use palette::rgb::Rgba;
+use palette::Hsla;
+use rapier::dynamics::{RigidBody, RigidBodySet};
+use rapier::geometry::ColliderSet;
+use rapier::math::{Point, Real};
+use rapier::pipeline::{DebugRenderBackend, DebugRenderObject, DebugRenderPipeline};
+use rapier::prelude::{QueryFilter, QueryFilterFlags};
+use wasm_bindgen::prelude::*;
+
+#[wasm_bindgen]
+pub struct RawDebugRenderPipeline {
+    pub(crate) raw: DebugRenderPipeline,
+    vertices: Vec<f32>,
+    colors: Vec<f32>,
+}
+
+#[wasm_bindgen]
+impl RawDebugRenderPipeline {
+    #[wasm_bindgen(constructor)]
+    pub fn new() -> Self {
+        RawDebugRenderPipeline {
+            raw: DebugRenderPipeline::default(),
+            vertices: vec![],
+            colors: vec![],
+        }
+    }
+
+    pub fn vertices(&self) -> Float32Array {
+        let output = Float32Array::new_with_length(self.vertices.len() as u32);
+        output.copy_from(&self.vertices);
+        output
+    }
+
+    pub fn colors(&self) -> Float32Array {
+        let output = Float32Array::new_with_length(self.colors.len() as u32);
+        output.copy_from(&self.colors);
+        output
+    }
+
+    pub fn render(
+        &mut self,
+        bodies: &RawRigidBodySet,
+        colliders: &RawColliderSet,
+        impulse_joints: &RawImpulseJointSet,
+        multibody_joints: &RawMultibodyJointSet,
+        narrow_phase: &RawNarrowPhase,
+        filter_flags: u32,
+        filter_predicate: &js_sys::Function,
+    ) {
+        self.vertices.clear();
+        self.colors.clear();
+
+        crate::utils::with_filter(filter_predicate, |predicate| {
+            let mut backend = CopyToBuffersBackend {
+                filter: QueryFilter {
+                    flags: QueryFilterFlags::from_bits(filter_flags)
+                        .unwrap_or(QueryFilterFlags::empty()),
+                    groups: None,
+                    exclude_collider: None,
+                    exclude_rigid_body: None,
+                    predicate,
+                },
+                bodies: &bodies.0,
+                colliders: &colliders.0,
+                vertices: &mut self.vertices,
+                colors: &mut self.colors,
+            };
+
+            self.raw.render(
+                &mut backend,
+                &bodies.0,
+                &colliders.0,
+                &impulse_joints.0,
+                &multibody_joints.0,
+                &narrow_phase.0,
+            )
+        })
+    }
+}
+
+struct CopyToBuffersBackend<'a> {
+    filter: QueryFilter<'a>,
+    bodies: &'a RigidBodySet,
+    colliders: &'a ColliderSet,
+    vertices: &'a mut Vec<f32>,
+    colors: &'a mut Vec<f32>,
+}
+
+impl<'a> DebugRenderBackend for CopyToBuffersBackend<'a> {
+    fn filter_object(&self, object: DebugRenderObject) -> bool {
+        let test_rigid_body = |rb: &RigidBody| {
+            rb.colliders().iter().all(|handle| {
+                let Some(co) = self.colliders.get(*handle) else {
+                    return false;
+                };
+                self.filter.test(self.bodies, *handle, co)
+            })
+        };
+
+        match object {
+            DebugRenderObject::Collider(handle, co)
+            | DebugRenderObject::ColliderAabb(handle, co, _) => {
+                self.filter.test(self.bodies, handle, co)
+            }
+            DebugRenderObject::ContactPair(pair, co1, co2) => {
+                self.filter.test(self.bodies, pair.collider1, co1)
+                    && self.filter.test(self.bodies, pair.collider2, co2)
+            }
+            DebugRenderObject::ImpulseJoint(_, joint) => {
+                let Some(rb1) = self.bodies.get(joint.body1) else {
+                    return false;
+                };
+                let Some(rb2) = self.bodies.get(joint.body2) else {
+                    return false;
+                };
+                test_rigid_body(rb1) && test_rigid_body(rb2)
+            }
+            DebugRenderObject::MultibodyJoint(_, _, link) => {
+                let Some(rb) = self.bodies.get(link.rigid_body_handle()) else {
+                    return false;
+                };
+                test_rigid_body(rb)
+            }
+            DebugRenderObject::RigidBody(_, rb) => test_rigid_body(rb),
+        }
+    }
+
+    /// Draws a colored line.
+    ///
+    /// Note that this method can be called multiple time for the same `object`.
+    fn draw_line(
+        &mut self,
+        _object: DebugRenderObject,
+        a: Point<Real>,
+        b: Point<Real>,
+        color: [f32; 4],
+    ) {
+        self.vertices.extend_from_slice(a.coords.as_slice());
+        self.vertices.extend_from_slice(b.coords.as_slice());
+
+        // Convert to RGB which will be easier to handle in JS.
+        let hsl = Hsla::new(color[0], color[1], color[2], color[3]);
+        let rgb: Rgba = hsl.into_color_unclamped();
+        self.colors.extend_from_slice(&[
+            rgb.red, rgb.green, rgb.blue, rgb.alpha, rgb.red, rgb.green, rgb.blue, rgb.alpha,
+        ]);
+    }
+}
diff --git a/thirdparty/rapier.js/src/pipeline/event_queue.rs b/thirdparty/rapier.js/src/pipeline/event_queue.rs
new file mode 100644
index 00000000..fb6034d9
--- /dev/null
+++ b/thirdparty/rapier.js/src/pipeline/event_queue.rs
@@ -0,0 +1,140 @@
+use crate::math::RawVector;
+use crate::utils;
+use crate::utils::FlatHandle;
+use rapier::geometry::{CollisionEvent, ContactForceEvent};
+use rapier::pipeline::ChannelEventCollector;
+use std::sync::mpsc::Receiver;
+use wasm_bindgen::prelude::*;
+
+/// A structure responsible for collecting events generated
+/// by the physics engine.
+#[wasm_bindgen]
+pub struct RawEventQueue {
+    pub(crate) collector: ChannelEventCollector,
+    collision_events: Receiver<CollisionEvent>,
+    contact_force_events: Receiver<ContactForceEvent>,
+    pub(crate) auto_drain: bool,
+}
+
+#[wasm_bindgen]
+pub struct RawContactForceEvent(ContactForceEvent);
+
+#[wasm_bindgen]
+impl RawContactForceEvent {
+    /// The first collider involved in the contact.
+    pub fn collider1(&self) -> FlatHandle {
+        crate::utils::flat_handle(self.0.collider1.0)
+    }
+
+    /// The second collider involved in the contact.
+    pub fn collider2(&self) -> FlatHandle {
+        crate::utils::flat_handle(self.0.collider2.0)
+    }
+
+    /// The sum of all the forces between the two colliders.
+    pub fn total_force(&self) -> RawVector {
+        RawVector(self.0.total_force)
+    }
+
+    /// The sum of the magnitudes of each force between the two colliders.
+    ///
+    /// Note that this is **not** the same as the magnitude of `self.total_force`.
+    /// Here we are summing the magnitude of all the forces, instead of taking
+    /// the magnitude of their sum.
+    pub fn total_force_magnitude(&self) -> f32 {
+        self.0.total_force_magnitude
+    }
+
+    /// The world-space (unit) direction of the force with strongest magnitude.
+    pub fn max_force_direction(&self) -> RawVector {
+        RawVector(self.0.max_force_direction)
+    }
+
+    /// The magnitude of the largest force at a contact point of this contact pair.
+    pub fn max_force_magnitude(&self) -> f32 {
+        self.0.max_force_magnitude
+    }
+}
+
+// #[wasm_bindgen]
+// /// The proximity state of a sensor collider and another collider.
+// pub enum RawIntersection {
+//     /// The sensor is intersecting the other collider.
+//     Intersecting = 0,
+//     /// The sensor is within tolerance margin of the other collider.
+//     WithinMargin = 1,
+//     /// The sensor is disjoint from the other collider.
+//     Disjoint = 2,
+// }
+
+#[wasm_bindgen]
+impl RawEventQueue {
+    /// Creates a new event collector.
+    ///
+    /// # Parameters
+    /// - `autoDrain`: setting this to `true` is strongly recommended. If true, the collector will
+    /// be automatically drained before each `world.step(collector)`. If false, the collector will
+    /// keep all events in memory unless it is manually drained/cleared; this may lead to unbounded use of
+    /// RAM if no drain is performed.
+    #[wasm_bindgen(constructor)]
+    pub fn new(autoDrain: bool) -> Self {
+        let collision_channel = std::sync::mpsc::channel();
+        let contact_force_channel = std::sync::mpsc::channel();
+        let collector = ChannelEventCollector::new(collision_channel.0, contact_force_channel.0);
+
+        Self {
+            collector,
+            collision_events: collision_channel.1,
+            contact_force_events: contact_force_channel.1,
+            auto_drain: autoDrain,
+        }
+    }
+
+    /// Applies the given javascript closure on each collision event of this collector, then clear
+    /// the internal collision event buffer.
+    ///
+    /// # Parameters
+    /// - `f(handle1, handle2, started)`:  JavaScript closure applied to each collision event. The
+    /// closure should take three arguments: two integers representing the handles of the colliders
+    /// involved in the collision, and a boolean indicating if the collision started (true) or stopped
+    /// (false).
+    pub fn drainCollisionEvents(&mut self, f: &js_sys::Function) {
+        let this = JsValue::null();
+        while let Ok(event) = self.collision_events.try_recv() {
+            match event {
+                CollisionEvent::Started(co1, co2, _) => {
+                    let h1 = utils::flat_handle(co1.0);
+                    let h2 = utils::flat_handle(co2.0);
+                    let _ = f.call3(
+                        &this,
+                        &JsValue::from(h1),
+                        &JsValue::from(h2),
+                        &JsValue::from_bool(true),
+                    );
+                }
+                CollisionEvent::Stopped(co1, co2, _) => {
+                    let h1 = utils::flat_handle(co1.0);
+                    let h2 = utils::flat_handle(co2.0);
+                    let _ = f.call3(
+                        &this,
+                        &JsValue::from(h1),
+                        &JsValue::from(h2),
+                        &JsValue::from_bool(false),
+                    );
+                }
+            }
+        }
+    }
+
+    pub fn drainContactForceEvents(&mut self, f: &js_sys::Function) {
+        let this = JsValue::null();
+        while let Ok(event) = self.contact_force_events.try_recv() {
+            let _ = f.call1(&this, &JsValue::from(RawContactForceEvent(event)));
+        }
+    }
+
+    /// Removes all events contained by this collector.
+    pub fn clear(&self) {
+        while let Ok(_) = self.collision_events.try_recv() {}
+    }
+}
diff --git a/thirdparty/rapier.js/src/pipeline/mod.rs b/thirdparty/rapier.js/src/pipeline/mod.rs
new file mode 100644
index 00000000..23e19bfb
--- /dev/null
+++ b/thirdparty/rapier.js/src/pipeline/mod.rs
@@ -0,0 +1,11 @@
+pub use self::debug_render_pipeline::*;
+pub use self::event_queue::*;
+pub use self::physics_hooks::*;
+pub use self::physics_pipeline::*;
+pub use self::serialization_pipeline::*;
+
+mod debug_render_pipeline;
+mod event_queue;
+mod physics_hooks;
+mod physics_pipeline;
+mod serialization_pipeline;
diff --git a/thirdparty/rapier.js/src/pipeline/physics_hooks.rs b/thirdparty/rapier.js/src/pipeline/physics_hooks.rs
new file mode 100644
index 00000000..2bbc8034
--- /dev/null
+++ b/thirdparty/rapier.js/src/pipeline/physics_hooks.rs
@@ -0,0 +1,217 @@
+use crate::utils;
+use rapier::geometry::SolverFlags;
+use rapier::pipeline::{ContactModificationContext, PairFilterContext, PhysicsHooks};
+use wasm_bindgen::prelude::*;
+
+pub struct RawPhysicsHooks {
+    pub this: js_sys::Object,
+    pub filter_contact_pair: js_sys::Function,
+    pub filter_intersection_pair: js_sys::Function,
+    // pub modify_solver_contacts: &'a js_sys::Function,
+}
+
+// HACK: the RawPhysicsHooks is no longer Send+Sync because the JS objects are
+//       no longer Send+Sync since https://github.com/rustwasm/wasm-bindgen/pull/955
+//       As far as this is confined to the bindings this should be fine since we
+//       never use threading in wasm.
+unsafe impl Send for RawPhysicsHooks {}
+unsafe impl Sync for RawPhysicsHooks {}
+
+#[wasm_bindgen]
+extern "C" {
+    // Use `js_namespace` here to bind `console.log(..)` instead of just
+    // `log(..)`
+    #[wasm_bindgen(js_namespace = console)]
+    fn log(s: &str);
+}
+
+impl PhysicsHooks for RawPhysicsHooks {
+    fn filter_contact_pair(&self, ctxt: &PairFilterContext) -> Option<SolverFlags> {
+        let rb1 = ctxt
+            .rigid_body1
+            .map(|rb| JsValue::from(utils::flat_handle(rb.0)))
+            .unwrap_or(JsValue::NULL);
+        let rb2 = ctxt
+            .rigid_body2
+            .map(|rb| JsValue::from(utils::flat_handle(rb.0)))
+            .unwrap_or(JsValue::NULL);
+
+        let result = self
+            .filter_contact_pair
+            .bind2(
+                &self.this,
+                &JsValue::from(utils::flat_handle(ctxt.collider1.0)),
+                &JsValue::from(utils::flat_handle(ctxt.collider2.0)),
+            )
+            .call2(&self.this, &rb1, &rb2)
+            .ok()?;
+        let flags = result.as_f64()?;
+        // TODO: not sure exactly why we have to do `flags as u32` instead
+        //       of `flags.to_bits() as u32`.
+        SolverFlags::from_bits(flags as u32)
+    }
+
+    fn filter_intersection_pair(&self, ctxt: &PairFilterContext) -> bool {
+        let rb1 = ctxt
+            .rigid_body1
+            .map(|rb| JsValue::from(utils::flat_handle(rb.0)))
+            .unwrap_or(JsValue::NULL);
+        let rb2 = ctxt
+            .rigid_body2
+            .map(|rb| JsValue::from(utils::flat_handle(rb.0)))
+            .unwrap_or(JsValue::NULL);
+
+        self.filter_intersection_pair
+            .bind2(
+                &self.this,
+                &JsValue::from(utils::flat_handle(ctxt.collider1.0)),
+                &JsValue::from(utils::flat_handle(ctxt.collider2.0)),
+            )
+            .call2(&self.this, &rb1, &rb2)
+            .ok()
+            .and_then(|res| res.as_bool())
+            .unwrap_or(false)
+    }
+
+    fn modify_solver_contacts(&self, _ctxt: &mut ContactModificationContext) {}
+}
+
+/* NOTE: the following is an attempt to make contact modification work.
+ *
+#[wasm_bindgen]
+#[derive(Copy, Clone, Debug)]
+pub struct RawContactManifold(*const ContactManifold);
+pub struct RawSolverContact(*const SolverContact);
+
+#[wasm_bindgen]
+pub struct RawContactModificationContext {
+    pub collider1: u32,
+    pub collider2: u32,
+    pub rigid_body1: Option<u32>,
+    pub rigid_body2: Option<u32>,
+    pub manifold: *const ContactManifold,
+    pub solver_contacts: *mut Vec<SolverContact>,
+    normal: *mut Vector<Real>,
+    user_data: *mut u32,
+}
+
+#[wasm_bindgen]
+impl RawContactModificationContext {
+    pub fn collider1(&self) -> u32 {
+        self.collider1
+    }
+
+    pub fn collider2(&self) -> u32 {
+        self.collider2
+    }
+
+    #[wasm_bindgen(getter)]
+    pub fn normal(&self) -> RawVector {
+        unsafe { RawVector(*self.normal) }
+    }
+
+    #[wasm_bindgen(setter)]
+    pub fn set_normal(&mut self, normal: RawVector) {
+        unsafe {
+            *self.normal = normal.0;
+        }
+    }
+
+    #[wasm_bindgen(getter)]
+    pub fn user_data(&self) -> u32 {
+        unsafe { *self.user_data }
+    }
+
+    #[wasm_bindgen(setter)]
+    pub fn set_user_data(&mut self, user_data: u32) {
+        unsafe {
+            *self.user_data = user_data;
+        }
+    }
+
+    pub fn num_solver_contacts(&self) -> usize {
+        unsafe { (*self.solver_contacts).len() }
+    }
+
+    pub fn clear_solver_contacts(&mut self) {
+        unsafe { (*self.solver_contacts).clear() }
+    }
+
+    pub fn remove_solver_contact(&mut self, i: usize) {
+        unsafe {
+            if i < self.num_solver_contacts() {
+                (*self.solver_contacts).swap_remove(i);
+            }
+        }
+    }
+
+    pub fn solver_contact_point(&self, i: usize) -> Option<RawVector> {
+        unsafe {
+            (*self.solver_contacts)
+                .get(i)
+                .map(|c| c.point.coords.into())
+        }
+    }
+
+    pub fn set_solver_contact_point(&mut self, i: usize, pt: &RawVector) {
+        unsafe {
+            if let Some(c) = (*self.solver_contacts).get_mut(i) {
+                c.point = pt.0.into()
+            }
+        }
+    }
+
+    pub fn solver_contact_dist(&self, i: usize) -> Real {
+        unsafe {
+            (*self.solver_contacts)
+                .get(i)
+                .map(|c| c.dist)
+                .unwrap_or(0.0)
+        }
+    }
+
+    pub fn set_solver_contact_dist(&mut self, i: usize, dist: Real) {
+        unsafe {
+            if let Some(c) = (*self.solver_contacts).get_mut(i) {
+                c.dist = dist
+            }
+        }
+    }
+
+    pub fn solver_contact_friction(&self, i: usize) -> Real {
+        unsafe { (*self.solver_contacts)[i].friction }
+    }
+
+    pub fn set_solver_contact_friction(&mut self, i: usize, friction: Real) {
+        unsafe {
+            if let Some(c) = (*self.solver_contacts).get_mut(i) {
+                c.friction = friction
+            }
+        }
+    }
+
+    pub fn solver_contact_restitution(&self, i: usize) -> Real {
+        unsafe { (*self.solver_contacts)[i].restitution }
+    }
+
+    pub fn set_solver_contact_restitution(&mut self, i: usize, restitution: Real) {
+        unsafe {
+            if let Some(c) = (*self.solver_contacts).get_mut(i) {
+                c.restitution = restitution
+            }
+        }
+    }
+
+    pub fn solver_contact_tangent_velocity(&self, i: usize) -> RawVector {
+        unsafe { (*self.solver_contacts)[i].tangent_velocity.into() }
+    }
+
+    pub fn set_solver_contact_tangent_velocity(&mut self, i: usize, vel: &RawVector) {
+        unsafe {
+            if let Some(c) = (*self.solver_contacts).get_mut(i) {
+                c.tangent_velocity = vel.0.into()
+            }
+        }
+    }
+}
+*/
diff --git a/thirdparty/rapier.js/src/pipeline/physics_pipeline.rs b/thirdparty/rapier.js/src/pipeline/physics_pipeline.rs
new file mode 100644
index 00000000..287cfeea
--- /dev/null
+++ b/thirdparty/rapier.js/src/pipeline/physics_pipeline.rs
@@ -0,0 +1,170 @@
+use crate::dynamics::{
+    RawCCDSolver, RawImpulseJointSet, RawIntegrationParameters, RawIslandManager,
+    RawMultibodyJointSet, RawRigidBodySet,
+};
+use crate::geometry::{RawBroadPhase, RawColliderSet, RawNarrowPhase};
+use crate::math::RawVector;
+use crate::pipeline::{RawEventQueue, RawPhysicsHooks};
+use crate::rapier::pipeline::PhysicsPipeline;
+use wasm_bindgen::prelude::*;
+
+#[wasm_bindgen]
+pub struct RawPhysicsPipeline(pub(crate) PhysicsPipeline);
+
+#[wasm_bindgen]
+impl RawPhysicsPipeline {
+    #[wasm_bindgen(constructor)]
+    pub fn new() -> Self {
+        let mut pipeline = PhysicsPipeline::new();
+        pipeline.counters.disable(); // Disable perf counters by default.
+        RawPhysicsPipeline(pipeline)
+    }
+
+    pub fn set_profiler_enabled(&mut self, enabled: bool) {
+        if enabled {
+            self.0.counters.enable();
+        } else {
+            self.0.counters.disable();
+        }
+    }
+
+    pub fn is_profiler_enabled(&self) -> bool {
+        self.0.counters.enabled()
+    }
+
+    pub fn timing_step(&self) -> f64 {
+        self.0.counters.step_time_ms()
+    }
+
+    pub fn timing_collision_detection(&self) -> f64 {
+        self.0.counters.collision_detection_time_ms()
+    }
+
+    pub fn timing_broad_phase(&self) -> f64 {
+        self.0.counters.broad_phase_time_ms()
+    }
+
+    pub fn timing_narrow_phase(&self) -> f64 {
+        self.0.counters.narrow_phase_time_ms()
+    }
+
+    pub fn timing_solver(&self) -> f64 {
+        self.0.counters.solver_time_ms()
+    }
+
+    pub fn timing_velocity_assembly(&self) -> f64 {
+        self.0.counters.solver.velocity_assembly_time.time_ms()
+    }
+
+    pub fn timing_velocity_resolution(&self) -> f64 {
+        self.0.counters.velocity_resolution_time_ms()
+    }
+
+    pub fn timing_velocity_update(&self) -> f64 {
+        self.0.counters.velocity_update_time_ms()
+    }
+
+    pub fn timing_velocity_writeback(&self) -> f64 {
+        self.0.counters.solver.velocity_writeback_time.time_ms()
+    }
+
+    pub fn timing_ccd(&self) -> f64 {
+        self.0.counters.ccd_time_ms()
+    }
+
+    pub fn timing_ccd_toi_computation(&self) -> f64 {
+        self.0.counters.ccd.toi_computation_time.time_ms()
+    }
+
+    pub fn timing_ccd_broad_phase(&self) -> f64 {
+        self.0.counters.ccd.broad_phase_time.time_ms()
+    }
+
+    pub fn timing_ccd_narrow_phase(&self) -> f64 {
+        self.0.counters.ccd.narrow_phase_time.time_ms()
+    }
+
+    pub fn timing_ccd_solver(&self) -> f64 {
+        self.0.counters.ccd.solver_time.time_ms()
+    }
+
+    pub fn timing_island_construction(&self) -> f64 {
+        self.0.counters.island_construction_time_ms()
+    }
+
+    pub fn timing_user_changes(&self) -> f64 {
+        self.0.counters.stages.user_changes.time_ms()
+    }
+
+    pub fn step(
+        &mut self,
+        gravity: &RawVector,
+        integrationParameters: &RawIntegrationParameters,
+        islands: &mut RawIslandManager,
+        broadPhase: &mut RawBroadPhase,
+        narrowPhase: &mut RawNarrowPhase,
+        bodies: &mut RawRigidBodySet,
+        colliders: &mut RawColliderSet,
+        joints: &mut RawImpulseJointSet,
+        articulations: &mut RawMultibodyJointSet,
+        ccd_solver: &mut RawCCDSolver,
+    ) {
+        self.0.step(
+            &gravity.0,
+            &integrationParameters.0,
+            &mut islands.0,
+            &mut broadPhase.0,
+            &mut narrowPhase.0,
+            &mut bodies.0,
+            &mut colliders.0,
+            &mut joints.0,
+            &mut articulations.0,
+            &mut ccd_solver.0,
+            &(),
+            &(),
+        );
+    }
+
+    pub fn stepWithEvents(
+        &mut self,
+        gravity: &RawVector,
+        integrationParameters: &RawIntegrationParameters,
+        islands: &mut RawIslandManager,
+        broadPhase: &mut RawBroadPhase,
+        narrowPhase: &mut RawNarrowPhase,
+        bodies: &mut RawRigidBodySet,
+        colliders: &mut RawColliderSet,
+        joints: &mut RawImpulseJointSet,
+        articulations: &mut RawMultibodyJointSet,
+        ccd_solver: &mut RawCCDSolver,
+        eventQueue: &mut RawEventQueue,
+        hookObject: js_sys::Object,
+        hookFilterContactPair: js_sys::Function,
+        hookFilterIntersectionPair: js_sys::Function,
+    ) {
+        if eventQueue.auto_drain {
+            eventQueue.clear();
+        }
+
+        let hooks = RawPhysicsHooks {
+            this: hookObject,
+            filter_contact_pair: hookFilterContactPair,
+            filter_intersection_pair: hookFilterIntersectionPair,
+        };
+
+        self.0.step(
+            &gravity.0,
+            &integrationParameters.0,
+            &mut islands.0,
+            &mut broadPhase.0,
+            &mut narrowPhase.0,
+            &mut bodies.0,
+            &mut colliders.0,
+            &mut joints.0,
+            &mut articulations.0,
+            &mut ccd_solver.0,
+            &hooks,
+            &eventQueue.collector,
+        );
+    }
+}
diff --git a/thirdparty/rapier.js/src/pipeline/serialization_pipeline.rs b/thirdparty/rapier.js/src/pipeline/serialization_pipeline.rs
new file mode 100644
index 00000000..97076f63
--- /dev/null
+++ b/thirdparty/rapier.js/src/pipeline/serialization_pipeline.rs
@@ -0,0 +1,145 @@
+use crate::dynamics::{
+    RawImpulseJointSet, RawIntegrationParameters, RawIslandManager, RawMultibodyJointSet,
+    RawRigidBodySet,
+};
+use crate::geometry::{RawBroadPhase, RawColliderSet, RawNarrowPhase};
+use crate::math::RawVector;
+use js_sys::Uint8Array;
+use rapier::dynamics::{
+    ImpulseJointSet, IntegrationParameters, IslandManager, MultibodyJointSet, RigidBodySet,
+};
+use rapier::geometry::{ColliderSet, DefaultBroadPhase, NarrowPhase};
+use rapier::math::Vector;
+use wasm_bindgen::prelude::*;
+
+#[derive(Serialize)]
+struct SerializableWorld<'a> {
+    gravity: &'a Vector<f32>,
+    integration_parameters: &'a IntegrationParameters,
+    islands: &'a IslandManager,
+    broad_phase: &'a DefaultBroadPhase,
+    narrow_phase: &'a NarrowPhase,
+    bodies: &'a RigidBodySet,
+    colliders: &'a ColliderSet,
+    impulse_joints: &'a ImpulseJointSet,
+    multibody_joints: &'a MultibodyJointSet,
+}
+
+#[derive(Deserialize)]
+struct DeserializableWorld {
+    gravity: Vector<f32>,
+    integration_parameters: IntegrationParameters,
+    islands: IslandManager,
+    broad_phase: DefaultBroadPhase,
+    narrow_phase: NarrowPhase,
+    bodies: RigidBodySet,
+    colliders: ColliderSet,
+    impulse_joints: ImpulseJointSet,
+    multibody_joints: MultibodyJointSet,
+}
+
+#[wasm_bindgen]
+pub struct RawDeserializedWorld {
+    gravity: Option<RawVector>,
+    integrationParameters: Option<RawIntegrationParameters>,
+    islands: Option<RawIslandManager>,
+    broadPhase: Option<RawBroadPhase>,
+    narrowPhase: Option<RawNarrowPhase>,
+    bodies: Option<RawRigidBodySet>,
+    colliders: Option<RawColliderSet>,
+    impulse_joints: Option<RawImpulseJointSet>,
+    multibody_joints: Option<RawMultibodyJointSet>,
+}
+
+#[wasm_bindgen]
+impl RawDeserializedWorld {
+    pub fn takeGravity(&mut self) -> Option<RawVector> {
+        self.gravity.take()
+    }
+
+    pub fn takeIntegrationParameters(&mut self) -> Option<RawIntegrationParameters> {
+        self.integrationParameters.take()
+    }
+
+    pub fn takeIslandManager(&mut self) -> Option<RawIslandManager> {
+        self.islands.take()
+    }
+
+    pub fn takeBroadPhase(&mut self) -> Option<RawBroadPhase> {
+        self.broadPhase.take()
+    }
+
+    pub fn takeNarrowPhase(&mut self) -> Option<RawNarrowPhase> {
+        self.narrowPhase.take()
+    }
+
+    pub fn takeBodies(&mut self) -> Option<RawRigidBodySet> {
+        self.bodies.take()
+    }
+
+    pub fn takeColliders(&mut self) -> Option<RawColliderSet> {
+        self.colliders.take()
+    }
+
+    pub fn takeImpulseJoints(&mut self) -> Option<RawImpulseJointSet> {
+        self.impulse_joints.take()
+    }
+
+    pub fn takeMultibodyJoints(&mut self) -> Option<RawMultibodyJointSet> {
+        self.multibody_joints.take()
+    }
+}
+
+#[wasm_bindgen]
+pub struct RawSerializationPipeline;
+
+#[wasm_bindgen]
+impl RawSerializationPipeline {
+    #[wasm_bindgen(constructor)]
+    pub fn new() -> Self {
+        RawSerializationPipeline
+    }
+
+    pub fn serializeAll(
+        &self,
+        gravity: &RawVector,
+        integrationParameters: &RawIntegrationParameters,
+        islands: &RawIslandManager,
+        broadPhase: &RawBroadPhase,
+        narrowPhase: &RawNarrowPhase,
+        bodies: &RawRigidBodySet,
+        colliders: &RawColliderSet,
+        impulse_joints: &RawImpulseJointSet,
+        multibody_joints: &RawMultibodyJointSet,
+    ) -> Option<Uint8Array> {
+        let to_serialize = SerializableWorld {
+            gravity: &gravity.0,
+            integration_parameters: &integrationParameters.0,
+            islands: &islands.0,
+            broad_phase: &broadPhase.0,
+            narrow_phase: &narrowPhase.0,
+            bodies: &bodies.0,
+            colliders: &colliders.0,
+            impulse_joints: &impulse_joints.0,
+            multibody_joints: &multibody_joints.0,
+        };
+        let snap = bincode::serialize(&to_serialize).ok()?;
+        Some(Uint8Array::from(&snap[..]))
+    }
+
+    pub fn deserializeAll(&self, data: Uint8Array) -> Option<RawDeserializedWorld> {
+        let data = data.to_vec();
+        let d: DeserializableWorld = bincode::deserialize(&data[..]).ok()?;
+        Some(RawDeserializedWorld {
+            gravity: Some(RawVector(d.gravity)),
+            integrationParameters: Some(RawIntegrationParameters(d.integration_parameters)),
+            islands: Some(RawIslandManager(d.islands)),
+            broadPhase: Some(RawBroadPhase(d.broad_phase)),
+            narrowPhase: Some(RawNarrowPhase(d.narrow_phase)),
+            bodies: Some(RawRigidBodySet(d.bodies)),
+            colliders: Some(RawColliderSet(d.colliders)),
+            impulse_joints: Some(RawImpulseJointSet(d.impulse_joints)),
+            multibody_joints: Some(RawMultibodyJointSet(d.multibody_joints)),
+        })
+    }
+}
diff --git a/thirdparty/rapier.js/src/utils.rs b/thirdparty/rapier.js/src/utils.rs
new file mode 100644
index 00000000..1b46e7cc
--- /dev/null
+++ b/thirdparty/rapier.js/src/utils.rs
@@ -0,0 +1,79 @@
+use rapier::data::Index;
+use rapier::dynamics::{ImpulseJointHandle, MultibodyJointHandle, RigidBodyHandle};
+use rapier::geometry::{Collider, ColliderHandle};
+use wasm_bindgen::JsValue;
+
+pub type FlatHandle = f64;
+
+#[inline(always)]
+pub fn collider_handle(id: FlatHandle) -> ColliderHandle {
+    ColliderHandle::from_raw_parts(id.to_bits() as u32, (id.to_bits() >> 32) as u32)
+}
+
+#[inline(always)]
+pub fn body_handle(id: FlatHandle) -> RigidBodyHandle {
+    RigidBodyHandle::from_raw_parts(id.to_bits() as u32, (id.to_bits() >> 32) as u32)
+}
+
+#[inline(always)]
+pub fn impulse_joint_handle(id: FlatHandle) -> ImpulseJointHandle {
+    ImpulseJointHandle::from_raw_parts(id.to_bits() as u32, (id.to_bits() >> 32) as u32)
+}
+
+#[inline(always)]
+pub fn multibody_joint_handle(id: FlatHandle) -> MultibodyJointHandle {
+    MultibodyJointHandle::from_raw_parts(id.to_bits() as u32, (id.to_bits() >> 32) as u32)
+}
+
+#[inline(always)]
+pub fn flat_handle(id: Index) -> FlatHandle {
+    let (i, g) = id.into_raw_parts();
+    FlatHandle::from_bits(i as u64 | ((g as u64) << 32))
+}
+
+// pub type FlatHandle = u32;
+//
+// #[inline(always)]
+// pub fn collider_handle(id: FlatHandle) -> ColliderHandle {
+//     ColliderHandle::from_raw_parts(id as u32, (id >> 16) as u32)
+// }
+//
+// #[inline(always)]
+// pub fn body_handle(id: FlatHandle) -> RigidBodyHandle {
+//     RigidBodyHandle::from_raw_parts(id as u32, (id >> 16) as u32)
+// }
+//
+// #[inline(always)]
+// pub fn impulse_joint_handle(id: FlatHandle) -> ImpulseJointHandle {
+//     ImpulseJointHandle::from_raw_parts(id as u32, (id >> 16) as u32)
+// }
+//
+// #[inline(always)]
+// pub fn multibody_joint_handle(id: FlatHandle) -> MultibodyJointHandle {
+//     MultibodyJointHandle::from_raw_parts(id as u32, (id >> 16) as u32)
+// }
+//
+// #[inline(always)]
+// pub fn flat_handle(id: Index) -> FlatHandle {
+//     let (i, g) = id.into_raw_parts();
+//     i as u32 | ((g as u32) << 16)
+// }
+
+#[inline(always)]
+pub fn with_filter<T>(
+    filter: &js_sys::Function,
+    f: impl FnOnce(Option<&dyn Fn(ColliderHandle, &Collider) -> bool>) -> T,
+) -> T {
+    if filter.is_function() {
+        let filtercb = move |handle: ColliderHandle, _: &Collider| match filter
+            .call1(&JsValue::null(), &JsValue::from(flat_handle(handle.0)))
+        {
+            Err(_) => true,
+            Ok(val) => val.as_bool().unwrap_or(true),
+        };
+
+        f(Some(&filtercb))
+    } else {
+        f(None)
+    }
+}
diff --git a/thirdparty/rapier.js/testbed2d/.npmignore b/thirdparty/rapier.js/testbed2d/.npmignore
new file mode 100644
index 00000000..488f9125
--- /dev/null
+++ b/thirdparty/rapier.js/testbed2d/.npmignore
@@ -0,0 +1,3 @@
+webpack.config2d.js
+src
+*.tgz
\ No newline at end of file
diff --git a/thirdparty/rapier.js/testbed2d/package.json b/thirdparty/rapier.js/testbed2d/package.json
new file mode 100644
index 00000000..9152daa0
--- /dev/null
+++ b/thirdparty/rapier.js/testbed2d/package.json
@@ -0,0 +1,32 @@
+{
+    "author": "sebcrozet <developer@crozet.re>",
+    "name": "rapier-testbed2d",
+    "version": "0.1.0",
+    "description": "JavaScript testbed for rapier.",
+    "license": "Apache-2.0",
+    "main": "dist/rapier-testbed2d.js",
+    "scripts": {
+        "build": "rimraf dist pkg && webpack",
+        "start": "rimraf dist pkg && webpack serve --open --node-env development"
+    },
+    "dependencies": {
+        "@dimforge/rapier2d": "file:../builds/rapier2d",
+        "hash-wasm": "^4.12.0",
+        "lil-gui": "^0.17.0",
+        "pixi-viewport": "^4.37.0",
+        "pixi.js": "^6.3.2",
+        "seedrandom": "^3.0.5",
+        "stats.js": "^0.17.0"
+    },
+    "devDependencies": {
+        "@types/seedrandom": "^3.0.2",
+        "@types/stats.js": "^0.17.0",
+        "copy-webpack-plugin": "^11.0.0",
+        "rimraf": "^3.0.2",
+        "ts-loader": "^9.4.1",
+        "typescript": "^4.8.4",
+        "webpack": "^5.74.0",
+        "webpack-cli": "^4.10.0",
+        "webpack-dev-server": "^4.11.1"
+    }
+}
diff --git a/thirdparty/rapier.js/testbed2d/publish.sh b/thirdparty/rapier.js/testbed2d/publish.sh
new file mode 100644
index 00000000..087c63be
--- /dev/null
+++ b/thirdparty/rapier.js/testbed2d/publish.sh
@@ -0,0 +1,5 @@
+#!/bin/bash
+
+npm run build
+rsync -av dist/ crozet@ssh.cluster003.hosting.ovh.net:/home/crozet/rapier/demos2d
+# rsync -av dist/Box2D_v2.3.1_min.wasm.wasm crozet@ssh.cluster003.hosting.ovh.net:/home/crozet/rapier/Box2D_v2.3.1_min.wasm.wasm
diff --git a/thirdparty/rapier.js/testbed2d/src/Graphics.ts b/thirdparty/rapier.js/testbed2d/src/Graphics.ts
new file mode 100644
index 00000000..4f9448f8
--- /dev/null
+++ b/thirdparty/rapier.js/testbed2d/src/Graphics.ts
@@ -0,0 +1,269 @@
+import * as PIXI from "pixi.js";
+import {Viewport} from "pixi-viewport";
+import type * as RAPIER from "@dimforge/rapier2d";
+
+type RAPIER_API = typeof import("@dimforge/rapier2d");
+
+const BOX_INSTANCE_INDEX = 0;
+const BALL_INSTANCE_INDEX = 1;
+
+var kk = 0;
+
+export class Graphics {
+    coll2gfx: Map<number, PIXI.Graphics>;
+    colorIndex: number;
+    colorPalette: Array<number>;
+    renderer: PIXI.Renderer;
+    scene: PIXI.Container;
+    viewport: Viewport;
+    instanceGroups: Array<Array<PIXI.Graphics>>;
+    lines: PIXI.Graphics;
+
+    constructor() {
+        // High pixel Ratio make the rendering extremely slow, so we cap it.
+        // const pixelRatio = window.devicePixelRatio ? Math.min(window.devicePixelRatio, 1.5) : 1;
+
+        this.coll2gfx = new Map();
+        this.colorIndex = 0;
+        this.colorPalette = [0xf3d9b1, 0x98c1d9, 0x053c5e, 0x1f7a8c];
+        this.renderer = new PIXI.Renderer({
+            backgroundColor: 0x292929,
+            antialias: true,
+            // resolution: pixelRatio,
+            width: window.innerWidth,
+            height: window.innerHeight,
+        });
+
+        this.scene = new PIXI.Container();
+        document.body.appendChild(this.renderer.view);
+
+        this.viewport = new Viewport({
+            screenWidth: window.innerWidth,
+            screenHeight: window.innerHeight,
+            worldWidth: 1000,
+            worldHeight: 1000,
+            interaction: this.renderer.plugins.interaction,
+        });
+
+        this.scene.addChild(this.viewport);
+        this.viewport.drag().pinch().wheel().decelerate();
+
+        let me = this;
+
+        function onWindowResize() {
+            me.renderer.resize(window.innerWidth, window.innerHeight);
+        }
+
+        function onContextMenu(event: UIEvent) {
+            event.preventDefault();
+        }
+
+        document.oncontextmenu = onContextMenu;
+        document.body.oncontextmenu = onContextMenu;
+
+        window.addEventListener("resize", onWindowResize, false);
+
+        this.initInstances();
+    }
+
+    initInstances() {
+        this.instanceGroups = [];
+        this.instanceGroups.push(
+            this.colorPalette.map((color) => {
+                let graphics = new PIXI.Graphics();
+                graphics.beginFill(color);
+                graphics.drawRect(-1.0, 1.0, 2.0, -2.0);
+                graphics.endFill();
+                return graphics;
+            }),
+        );
+
+        this.instanceGroups.push(
+            this.colorPalette.map((color) => {
+                let graphics = new PIXI.Graphics();
+                graphics.beginFill(color);
+                graphics.drawCircle(0.0, 0.0, 1.0);
+                graphics.endFill();
+                return graphics;
+            }),
+        );
+    }
+
+    render(world: RAPIER.World, debugRender: Boolean) {
+        kk += 1;
+
+        if (!this.lines) {
+            this.lines = new PIXI.Graphics();
+            this.viewport.addChild(this.lines);
+        }
+
+        if (debugRender) {
+            let buffers = world.debugRender();
+            let vtx = buffers.vertices;
+            let cls = buffers.colors;
+
+            this.lines.clear();
+
+            for (let i = 0; i < vtx.length / 4; i += 1) {
+                let color = PIXI.utils.rgb2hex([
+                    cls[i * 8],
+                    cls[i * 8 + 1],
+                    cls[i * 8 + 2],
+                ]);
+                this.lines.lineStyle(1.0, color, cls[i * 8 + 3], 0.5, true);
+                this.lines.moveTo(vtx[i * 4], -vtx[i * 4 + 1]);
+                this.lines.lineTo(vtx[i * 4 + 2], -vtx[i * 4 + 3]);
+            }
+        } else {
+            this.lines.clear();
+        }
+
+        this.updatePositions(world);
+        this.renderer.render(this.scene);
+    }
+
+    lookAt(pos: {zoom: number; target: {x: number; y: number}}) {
+        this.viewport.setZoom(pos.zoom);
+        this.viewport.moveCenter(pos.target.x, pos.target.y);
+    }
+
+    updatePositions(world: RAPIER.World) {
+        world.forEachCollider((elt) => {
+            let gfx = this.coll2gfx.get(elt.handle);
+            let translation = elt.translation();
+            let rotation = elt.rotation();
+
+            if (!!gfx) {
+                gfx.position.x = translation.x;
+                gfx.position.y = -translation.y;
+                gfx.rotation = -rotation;
+            }
+        });
+    }
+
+    reset() {
+        this.coll2gfx.forEach((gfx) => {
+            this.viewport.removeChild(gfx);
+            gfx.destroy();
+        });
+        this.coll2gfx = new Map();
+        this.colorIndex = 0;
+    }
+
+    addCollider(
+        RAPIER: RAPIER_API,
+        world: RAPIER.World,
+        collider: RAPIER.Collider,
+    ) {
+        let i;
+        let parent = collider.parent();
+        let instance;
+        let graphics;
+        let vertices;
+        let instanceId = parent.isFixed() ? 0 : this.colorIndex + 1;
+
+        switch (collider.shapeType()) {
+            case RAPIER.ShapeType.Cuboid:
+                let hext = collider.halfExtents();
+                instance = this.instanceGroups[BOX_INSTANCE_INDEX][instanceId];
+                graphics = instance.clone();
+                graphics.scale.x = hext.x;
+                graphics.scale.y = hext.y;
+                this.viewport.addChild(graphics);
+                break;
+            case RAPIER.ShapeType.Ball:
+                let rad = collider.radius();
+                instance = this.instanceGroups[BALL_INSTANCE_INDEX][instanceId];
+                graphics = instance.clone();
+                graphics.scale.x = rad;
+                graphics.scale.y = rad;
+                this.viewport.addChild(graphics);
+                break;
+            case RAPIER.ShapeType.Polyline:
+                vertices = Array.from(collider.vertices());
+                graphics = new PIXI.Graphics();
+                graphics
+                    .lineStyle(0.2, this.colorPalette[instanceId])
+                    .moveTo(vertices[0], -vertices[1]);
+
+                for (i = 2; i < vertices.length; i += 2) {
+                    graphics.lineTo(vertices[i], -vertices[i + 1]);
+                }
+
+                this.viewport.addChild(graphics);
+                break;
+            case RAPIER.ShapeType.HeightField:
+                let heights = Array.from(collider.heightfieldHeights());
+                let scale = collider.heightfieldScale();
+                let step = scale.x / (heights.length - 1);
+
+                graphics = new PIXI.Graphics();
+                graphics
+                    .lineStyle(0.2, this.colorPalette[instanceId])
+                    .moveTo(-scale.x / 2.0, -heights[0] * scale.y);
+
+                for (i = 1; i < heights.length; i += 1) {
+                    graphics.lineTo(
+                        -scale.x / 2.0 + i * step,
+                        -heights[i] * scale.y,
+                    );
+                }
+
+                this.viewport.addChild(graphics);
+                break;
+            case RAPIER.ShapeType.ConvexPolygon:
+                vertices = Array.from(collider.vertices());
+                graphics = new PIXI.Graphics();
+                graphics.beginFill(this.colorPalette[instanceId], 1.0);
+                graphics.moveTo(vertices[0], -vertices[1]);
+
+                for (i = 2; i < vertices.length; i += 2) {
+                    graphics.lineTo(vertices[i], -vertices[i + 1]);
+                }
+
+                this.viewport.addChild(graphics);
+                break;
+            case RAPIER.ShapeType.Voxels:
+                graphics = new PIXI.Graphics();
+                graphics.beginFill(this.colorPalette[instanceId], 1.0);
+                collider.clearShapeCache();
+                let shape = collider.shape as RAPIER.Voxels;
+                let gridCoords = shape.data;
+                let sz = shape.voxelSize;
+
+                for (i = 0; i < gridCoords.length; i += 2) {
+                    let minx = gridCoords[i] * sz.x;
+                    let miny = gridCoords[i + 1] * sz.y;
+                    let maxx = minx + sz.x;
+                    let maxy = miny + sz.y;
+
+                    graphics.moveTo(minx, -miny);
+                    graphics.lineTo(maxx, -miny);
+                    graphics.lineTo(maxx, -maxy);
+                    graphics.lineTo(minx, -maxy);
+                }
+
+                this.viewport.addChild(graphics);
+                break;
+            default:
+                console.log("Unknown shape to render: ", collider.shapeType());
+                return;
+        }
+
+        let t = collider.translation();
+        let r = collider.rotation();
+        //        dummy.position.set(t.x, t.y, t.z);
+        //        dummy.quaternion.set(r.x, r.y, r.z, r.w);
+        //        dummy.scale.set(instanceDesc.scale.x, instanceDesc.scale.y, instanceDesc.scale.z);
+        //        dummy.updateMatrix();
+        //        instance.setMatrixAt(instanceDesc.elementId, dummy.matrix);
+        //        instance.instanceMatrix.needsUpdate = true;
+        graphics.position.x = t.x;
+        graphics.position.y = -t.y;
+        graphics.rotation = r;
+
+        this.coll2gfx.set(collider.handle, graphics);
+        this.colorIndex =
+            (this.colorIndex + 1) % (this.colorPalette.length - 1);
+    }
+}
diff --git a/thirdparty/rapier.js/testbed2d/src/Gui.ts b/thirdparty/rapier.js/testbed2d/src/Gui.ts
new file mode 100644
index 00000000..a410607e
--- /dev/null
+++ b/thirdparty/rapier.js/testbed2d/src/Gui.ts
@@ -0,0 +1,113 @@
+import GUI from "lil-gui";
+import * as Stats from "stats.js";
+import type {Testbed} from "./Testbed";
+
+export interface DebugInfos {
+    token: number;
+    stepId: number;
+    worldHash: string;
+    worldHashTime: number;
+    snapshotTime: number;
+}
+
+export class Gui {
+    stats: Stats;
+    rapierVersion: string;
+    maxTimePanelValue: number;
+    stepTimePanel: Stats.Panel;
+    gui: GUI;
+    debugText: HTMLDivElement;
+
+    constructor(testbed: Testbed, simulationParameters: Testbed["parameters"]) {
+        // Timings
+        this.stats = new Stats();
+        this.rapierVersion = testbed.RAPIER.version();
+        this.maxTimePanelValue = 16.0;
+        this.stepTimePanel = this.stats.addPanel(
+            new Stats.Panel("ms (step)", "#ff8", "#221"),
+        );
+        this.stats.showPanel(this.stats.dom.children.length - 1);
+        document.body.appendChild(this.stats.dom);
+
+        var backends = simulationParameters.backends;
+        var demos = Array.from(simulationParameters.builders.keys());
+        var me = this;
+
+        // For configuring simulation parameters.
+        this.gui = new GUI({
+            title: "Rapier JS demos",
+        });
+        var currDemo = this.gui
+            .add(simulationParameters, "demo", demos)
+            .onChange((demo: string) => {
+                testbed.switchToDemo(demo);
+            });
+        this.gui
+            .add(simulationParameters, "numSolverIters", 0, 20)
+            .step(1)
+            .listen();
+        this.gui
+            .add(simulationParameters, "debugInfos")
+            .listen()
+            .onChange((value: boolean) => {
+                me.debugText.style.visibility = value ? "visible" : "hidden";
+            });
+        this.gui.add(simulationParameters, "debugRender").listen();
+        this.gui.add(simulationParameters, "running").listen();
+        this.gui.add(simulationParameters, "step");
+        simulationParameters.step = () => {
+            simulationParameters.stepping = true;
+        };
+        this.gui.add(simulationParameters, "takeSnapshot");
+        simulationParameters.takeSnapshot = () => {
+            testbed.takeSnapshot();
+        };
+        this.gui.add(simulationParameters, "restoreSnapshot");
+        simulationParameters.restoreSnapshot = () => {
+            testbed.restoreSnapshot();
+        };
+        this.gui.add(simulationParameters, "restart");
+        simulationParameters.restart = () => {
+            testbed.switchToDemo(currDemo.getValue());
+        };
+
+        /*
+         * Block of text for debug infos.
+         */
+        this.debugText = document.createElement("div");
+        this.debugText.style.position = "absolute";
+        this.debugText.innerHTML = "";
+        this.debugText.style.top = 50 + "px";
+        this.debugText.style.visibility = "visible";
+        this.debugText.style.color = "#fff";
+        document.body.appendChild(this.debugText);
+    }
+
+    setDebugInfos(infos: DebugInfos) {
+        let text = "Version " + this.rapierVersion;
+        text += "<br/>[Step " + infos.stepId + "]";
+
+        if (infos.worldHash) {
+            text +=
+                "<br/>World hash (xxHash128): " + infos.worldHash.toString();
+            text +=
+                "<br/>World hash time (xxHash128): " +
+                infos.worldHashTime +
+                "ms";
+            text += "<br/>Snapshot time: " + infos.snapshotTime + "ms";
+        }
+        this.debugText.innerHTML = text;
+    }
+
+    setTiming(timing: number) {
+        if (!!timing) {
+            this.maxTimePanelValue = Math.max(this.maxTimePanelValue, timing);
+            this.stepTimePanel.update(timing, this.maxTimePanelValue);
+        }
+    }
+
+    resetTiming() {
+        this.maxTimePanelValue = 1.0;
+        this.stepTimePanel.update(0.0, 16.0);
+    }
+}
diff --git a/thirdparty/rapier.js/testbed2d/src/Testbed.ts b/thirdparty/rapier.js/testbed2d/src/Testbed.ts
new file mode 100644
index 00000000..61279ab2
--- /dev/null
+++ b/thirdparty/rapier.js/testbed2d/src/Testbed.ts
@@ -0,0 +1,189 @@
+import {Graphics} from "./Graphics";
+import {Gui} from "./Gui";
+import type {DebugInfos} from "./Gui";
+import {xxhash128} from "hash-wasm";
+import type * as RAPIER from "@dimforge/rapier2d";
+
+type RAPIER_API = typeof import("@dimforge/rapier2d");
+
+type Builders = Map<string, (RAPIER: RAPIER_API, testbed: Testbed) => void>;
+
+class SimulationParameters {
+    backend: string;
+    prevBackend: string;
+    demo: string;
+    numSolverIters: number;
+    running: boolean;
+    stepping: boolean;
+    debugRender: boolean;
+    step: () => void;
+    restart: () => void;
+    takeSnapshot: () => void;
+    restoreSnapshot: () => void;
+    backends: Array<string>;
+    builders: Builders;
+    debugInfos: boolean;
+
+    constructor(backends: Array<string>, builders: Builders) {
+        this.backend = "rapier";
+        this.prevBackend = "rapier";
+        this.demo = "collision groups";
+        this.numSolverIters = 4;
+        this.running = true;
+        this.stepping = false;
+        this.debugRender = false;
+        this.step = function () {};
+        this.restart = function () {};
+        this.takeSnapshot = function () {};
+        this.restoreSnapshot = function () {};
+        this.backends = backends;
+        this.builders = builders;
+        this.debugInfos = false;
+    }
+}
+
+export class Testbed {
+    RAPIER: RAPIER_API;
+    gui: Gui;
+    graphics: Graphics;
+    inhibitLookAt: boolean;
+    parameters: SimulationParameters;
+    demoToken: number;
+    mouse: {x: number; y: number};
+    events: RAPIER.EventQueue;
+    world: RAPIER.World;
+    preTimestepAction?: (gfx: Graphics) => void;
+    stepId: number;
+    prevDemo: string;
+    lastMessageTime: number;
+    snap: Uint8Array;
+    snapStepId: number;
+
+    constructor(RAPIER: RAPIER_API, builders: Builders) {
+        let backends = ["rapier"];
+        this.RAPIER = RAPIER;
+        let parameters = new SimulationParameters(backends, builders);
+        this.gui = new Gui(this, parameters);
+        this.graphics = new Graphics();
+        this.inhibitLookAt = false;
+        this.parameters = parameters;
+        this.demoToken = 0;
+        this.mouse = {x: 0, y: 0};
+        this.events = new RAPIER.EventQueue(true);
+        this.switchToDemo(builders.keys().next().value);
+
+        window.addEventListener("mousemove", (event) => {
+            this.mouse.x = (event.clientX / window.innerWidth) * 2 - 1;
+            this.mouse.y = 1 - (event.clientY / window.innerHeight) * 2;
+        });
+    }
+
+    setpreTimestepAction(action: (gfx: Graphics) => void) {
+        this.preTimestepAction = action;
+    }
+
+    setWorld(world: RAPIER.World) {
+        document.onkeyup = null;
+        document.onkeydown = null;
+        this.preTimestepAction = null;
+        this.world = world;
+        this.world.numSolverIterations = this.parameters.numSolverIters;
+        this.demoToken += 1;
+        this.stepId = 0;
+        this.gui.resetTiming();
+
+        world.forEachCollider((coll) => {
+            this.graphics.addCollider(this.RAPIER, world, coll);
+        });
+
+        this.lastMessageTime = new Date().getTime();
+    }
+
+    lookAt(pos: Parameters<Graphics["lookAt"]>[0]) {
+        if (!this.inhibitLookAt) {
+            this.graphics.lookAt(pos);
+        }
+
+        this.inhibitLookAt = false;
+    }
+
+    switchToDemo(demo: string) {
+        if (demo == this.prevDemo) {
+            this.inhibitLookAt = true;
+        }
+
+        this.prevDemo = demo;
+        this.graphics.reset();
+        this.stepId = 0;
+
+        this.parameters.prevBackend = this.parameters.backend;
+        this.parameters.builders.get(demo)(this.RAPIER, this);
+    }
+
+    switchToBackend(backend: string) {
+        this.switchToDemo(this.parameters.demo);
+    }
+
+    takeSnapshot() {
+        this.snap = this.world.takeSnapshot();
+        this.snapStepId = this.stepId;
+    }
+
+    restoreSnapshot() {
+        if (!!this.snap) {
+            this.world.free();
+            this.world = this.RAPIER.World.restoreSnapshot(this.snap);
+            this.stepId = this.snapStepId;
+        }
+    }
+
+    run() {
+        if (this.parameters.running || this.parameters.stepping) {
+            this.world.numSolverIterations = this.parameters.numSolverIters;
+
+            if (!!this.preTimestepAction) {
+                this.preTimestepAction(this.graphics);
+            }
+
+            let t0 = new Date().getTime();
+            this.world.step(this.events);
+            this.gui.setTiming(new Date().getTime() - t0);
+            this.stepId += 1;
+
+            if (!!this.parameters.debugInfos) {
+                let t0 = performance.now();
+                let snapshot = this.world.takeSnapshot();
+                let t1 = performance.now();
+                let snapshotTime = t1 - t0;
+
+                let debugInfos: DebugInfos = {
+                    token: this.demoToken,
+                    stepId: this.stepId,
+                    worldHash: "",
+                    worldHashTime: 0,
+                    snapshotTime: 0,
+                };
+                t0 = performance.now();
+                xxhash128(snapshot).then((hash) => {
+                    debugInfos.worldHash = hash;
+                    t1 = performance.now();
+                    let worldHashTime = t1 - t0;
+                    debugInfos.worldHashTime = worldHashTime;
+                    debugInfos.snapshotTime = snapshotTime;
+                    this.gui.setDebugInfos(debugInfos);
+                });
+            }
+        }
+
+        if (this.parameters.stepping) {
+            this.parameters.running = false;
+            this.parameters.stepping = false;
+        }
+
+        this.gui.stats.begin();
+        this.graphics.render(this.world, this.parameters.debugRender);
+        this.gui.stats.end();
+
+        requestAnimationFrame(() => this.run());
+    }
+}
diff --git a/thirdparty/rapier.js/testbed2d/src/demos/characterController.ts b/thirdparty/rapier.js/testbed2d/src/demos/characterController.ts
new file mode 100644
index 00000000..7877db12
--- /dev/null
+++ b/thirdparty/rapier.js/testbed2d/src/demos/characterController.ts
@@ -0,0 +1,89 @@
+import type {Testbed} from "../Testbed";
+
+type RAPIER_API = typeof import("@dimforge/rapier2d");
+
+export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
+    let gravity = new RAPIER.Vector2(0.0, -9.81);
+    let world = new RAPIER.World(gravity);
+
+    // Create Ground.
+    let bodyDesc = RAPIER.RigidBodyDesc.fixed();
+    let body = world.createRigidBody(bodyDesc);
+    let colliderDesc = RAPIER.ColliderDesc.cuboid(15.0, 0.1);
+    world.createCollider(colliderDesc, body);
+
+    // Dynamic cubes.
+    let rad = 0.5;
+    let num = 5;
+    let i, j, k;
+    let shift = rad * 2.5;
+    let center = num * rad;
+    let height = 5.0;
+
+    for (i = 0; i < num; ++i) {
+        for (k = i; k < num; ++k) {
+            let x = (i * shift) / 2.0 + (k - i) * shift - center;
+            let y = (i * shift) / 2.0 + height;
+
+            // Create dynamic cube.
+            let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(x, y);
+            let body = world.createRigidBody(bodyDesc);
+            let colliderDesc = RAPIER.ColliderDesc.cuboid(rad, rad / 2.0);
+            world.createCollider(colliderDesc, body);
+        }
+    }
+
+    // Character.
+    let characterDesc =
+        RAPIER.RigidBodyDesc.kinematicPositionBased().setTranslation(
+            -10.0,
+            4.0,
+        );
+    let character = world.createRigidBody(characterDesc);
+    let characterColliderDesc = RAPIER.ColliderDesc.cuboid(0.6, 1.2);
+    let characterCollider = world.createCollider(
+        characterColliderDesc,
+        character,
+    );
+
+    let characterController = world.createCharacterController(0.1);
+    characterController.enableAutostep(0.7, 0.3, true);
+    characterController.enableSnapToGround(0.7);
+
+    let speed = 0.2;
+    let movementDirection = {x: 0.0, y: -speed};
+
+    let updateCharacter = () => {
+        characterController.computeColliderMovement(
+            characterCollider,
+            movementDirection,
+        );
+
+        let movement = characterController.computedMovement();
+        let newPos = character.translation();
+        newPos.x += movement.x;
+        newPos.y += movement.y;
+        character.setNextKinematicTranslation(newPos);
+        console.log("here");
+    };
+
+    testbed.setWorld(world);
+    testbed.setpreTimestepAction(updateCharacter);
+
+    document.onkeydown = function (event: KeyboardEvent) {
+        if (event.key == "ArrowLeft") movementDirection.x = -speed;
+        if (event.key == "ArrowRight") movementDirection.x = speed;
+        if (event.key == " ") movementDirection.y = speed;
+    };
+
+    document.onkeyup = function (event: KeyboardEvent) {
+        if (event.key == "ArrowLeft") movementDirection.x = 0.0;
+        if (event.key == "ArrowRight") movementDirection.x = 0.0;
+        if (event.key == " ") movementDirection.y = -speed; // Gravity
+    };
+
+    testbed.lookAt({
+        target: {x: 0.0, y: -1.0},
+        zoom: 50.0,
+    });
+}
diff --git a/thirdparty/rapier.js/testbed2d/src/demos/collisionGroups.ts b/thirdparty/rapier.js/testbed2d/src/demos/collisionGroups.ts
new file mode 100644
index 00000000..51163618
--- /dev/null
+++ b/thirdparty/rapier.js/testbed2d/src/demos/collisionGroups.ts
@@ -0,0 +1,79 @@
+import type {Testbed} from "../Testbed";
+
+type RAPIER_API = typeof import("@dimforge/rapier2d");
+
+export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
+    let gravity = new RAPIER.Vector2(0.0, -9.81);
+    let world = new RAPIER.World(gravity);
+
+    /*
+     * Ground
+     */
+    let ground_size = 5.0;
+    let ground_height = 0.1;
+
+    let groundBodyDesc = RAPIER.RigidBodyDesc.fixed().setTranslation(
+        0.0,
+        -ground_height,
+    );
+    let groundBody = world.createRigidBody(groundBodyDesc);
+    let colliderDesc = RAPIER.ColliderDesc.cuboid(ground_size, ground_height);
+    world.createCollider(colliderDesc, groundBody);
+
+    /*
+     * Setup groups
+     */
+    let group1 = 0x00010001;
+    let group2 = 0x00020002;
+
+    /*
+     * A green floor that will collide with the first group only.
+     */
+    colliderDesc = RAPIER.ColliderDesc.cuboid(1.0, 0.1)
+        .setTranslation(0.0, 1.0)
+        .setCollisionGroups(group1);
+    world.createCollider(colliderDesc, groundBody);
+
+    /*
+     * A blue floor that will collide with the second group only.
+     */
+    colliderDesc = RAPIER.ColliderDesc.cuboid(1.0, 0.1)
+        .setTranslation(0.0, 2.0)
+        .setCollisionGroups(group2);
+    world.createCollider(colliderDesc, groundBody);
+
+    /*
+     * Create the cubes
+     */
+    let num = 8;
+    let rad = 0.1;
+
+    let shift = rad * 2.0;
+    let centerx = shift * (num / 2);
+    let centery = 2.5;
+    let i, j;
+
+    for (j = 0; j < 4; ++j) {
+        for (i = 0; i < num; ++i) {
+            let x = i * shift - centerx;
+            let y = j * shift + centery;
+
+            // Alternate between the green and blue groups.
+            let group = i % 2 == 0 ? group1 : group2;
+
+            let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(x, y);
+            let body = world.createRigidBody(bodyDesc);
+            let colliderDesc = RAPIER.ColliderDesc.cuboid(
+                rad,
+                rad,
+            ).setCollisionGroups(group);
+            world.createCollider(colliderDesc, body);
+        }
+    }
+
+    testbed.setWorld(world);
+    testbed.lookAt({
+        target: {x: 0.0, y: -1.0},
+        zoom: 100.0,
+    });
+}
diff --git a/thirdparty/rapier.js/testbed2d/src/demos/convexPolygons.ts b/thirdparty/rapier.js/testbed2d/src/demos/convexPolygons.ts
new file mode 100644
index 00000000..6edad202
--- /dev/null
+++ b/thirdparty/rapier.js/testbed2d/src/demos/convexPolygons.ts
@@ -0,0 +1,68 @@
+import seedrandom from "seedrandom";
+import type {Testbed} from "../Testbed";
+
+type RAPIER_API = typeof import("@dimforge/rapier2d");
+
+export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
+    let gravity = new RAPIER.Vector2(0.0, -9.81);
+    let world = new RAPIER.World(gravity);
+
+    /*
+     * Ground
+     */
+    // Create Ground.
+    let groundSize = 30.0;
+    let grounds = [
+        {x: 0.0, y: 0.0, hx: groundSize, hy: 1.2},
+        {x: -groundSize, y: groundSize, hx: 1.2, hy: groundSize},
+        {x: groundSize, y: groundSize, hx: 1.2, hy: groundSize},
+    ];
+
+    grounds.forEach((ground) => {
+        let bodyDesc = RAPIER.RigidBodyDesc.fixed().setTranslation(
+            ground.x,
+            ground.y,
+        );
+        let body = world.createRigidBody(bodyDesc);
+        let colliderDesc = RAPIER.ColliderDesc.cuboid(ground.hx, ground.hy);
+        world.createCollider(colliderDesc, body);
+    });
+
+    /*
+     * Create the convex polygons
+     */
+    let num = 14;
+    let scale = 4.0;
+
+    let shift = scale;
+    let centerx = (shift * num) / 2.0;
+    let centery = shift / 2.0;
+
+    let i, j, k;
+    let rng = seedrandom("convexPolygon");
+
+    for (i = 0; i < num; ++i) {
+        for (j = 0; j < num * 2; ++j) {
+            let x = i * shift - centerx;
+            let y = j * shift * 2.0 + centery + 2.0;
+
+            let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(x, y);
+            let body = world.createRigidBody(bodyDesc);
+
+            let points = [];
+            for (k = 0; k < 10; ++k) {
+                points.push(rng() * scale, rng() * scale);
+            }
+            let colliderDesc = RAPIER.ColliderDesc.convexHull(
+                new Float32Array(points),
+            );
+            world.createCollider(colliderDesc, body);
+        }
+    }
+
+    testbed.setWorld(world);
+    testbed.lookAt({
+        target: {x: -10.0, y: -30.0},
+        zoom: 7.0,
+    });
+}
diff --git a/thirdparty/rapier.js/testbed2d/src/demos/cubes.ts b/thirdparty/rapier.js/testbed2d/src/demos/cubes.ts
new file mode 100644
index 00000000..5214b485
--- /dev/null
+++ b/thirdparty/rapier.js/testbed2d/src/demos/cubes.ts
@@ -0,0 +1,56 @@
+import type {Testbed} from "../Testbed";
+
+type RAPIER_API = typeof import("@dimforge/rapier2d");
+
+export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
+    let gravity = new RAPIER.Vector2(0.0, -9.81);
+    let world = new RAPIER.World(gravity);
+
+    // Create Ground.
+    let groundSize = 40.0;
+    let grounds = [
+        {x: 0.0, y: 0.0, hx: groundSize, hy: 0.1},
+        {x: -groundSize, y: groundSize, hx: 0.1, hy: groundSize},
+        {x: groundSize, y: groundSize, hx: 0.1, hy: groundSize},
+    ];
+
+    grounds.forEach((ground) => {
+        let bodyDesc = RAPIER.RigidBodyDesc.fixed().setTranslation(
+            ground.x,
+            ground.y,
+        );
+        let body = world.createRigidBody(bodyDesc);
+        let colliderDesc = RAPIER.ColliderDesc.cuboid(ground.hx, ground.hy);
+        world.createCollider(colliderDesc, body);
+    });
+
+    // Dynamic cubes.
+    let num = 20;
+    let numy = 50;
+    let rad = 1.0;
+
+    let shift = rad * 2.0 + rad;
+    let centerx = shift * (num / 2);
+    let centery = shift / 2.0;
+
+    let i, j;
+
+    for (j = 0; j < numy; ++j) {
+        for (i = 0; i < num; ++i) {
+            let x = i * shift - centerx;
+            let y = j * shift + centery + 3.0;
+
+            // Create dynamic cube.
+            let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(x, y);
+            let body = world.createRigidBody(bodyDesc);
+            let colliderDesc = RAPIER.ColliderDesc.cuboid(rad, rad);
+            world.createCollider(colliderDesc, body);
+        }
+    }
+
+    testbed.setWorld(world);
+    testbed.lookAt({
+        target: {x: -10.0, y: -30.0},
+        zoom: 7.0,
+    });
+}
diff --git a/thirdparty/rapier.js/testbed2d/src/demos/heightfield.ts b/thirdparty/rapier.js/testbed2d/src/demos/heightfield.ts
new file mode 100644
index 00000000..d055499b
--- /dev/null
+++ b/thirdparty/rapier.js/testbed2d/src/demos/heightfield.ts
@@ -0,0 +1,65 @@
+import type {Testbed} from "../Testbed";
+
+type RAPIER_API = typeof import("@dimforge/rapier2d");
+
+export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
+    let gravity = new RAPIER.Vector2(0.0, -9.81);
+    let world = new RAPIER.World(gravity);
+    let i, j;
+
+    /*
+     * Ground
+     */
+    let ground_size = {x: 50.0, y: 1.0};
+    let nsubdivs = 100;
+    let heights = [];
+
+    heights.push(40.0);
+    for (i = 1; i < nsubdivs; ++i) {
+        heights.push(Math.cos((i * ground_size.x) / nsubdivs) * 2.0);
+    }
+    heights.push(40.0);
+
+    let bodyDesc = RAPIER.RigidBodyDesc.fixed();
+    let body = world.createRigidBody(bodyDesc);
+    let colliderDesc = RAPIER.ColliderDesc.heightfield(
+        new Float32Array(heights),
+        ground_size,
+    );
+    world.createCollider(colliderDesc, body);
+
+    /*
+     * Create the cubes
+     */
+    let num = 15;
+    let rad = 0.5;
+
+    let shift = rad * 2.0;
+    let centerx = shift * (num / 2);
+    let centery = shift / 2.0;
+
+    for (i = 0; i < num; ++i) {
+        for (j = 0; j < num * 5; ++j) {
+            let x = i * shift - centerx;
+            let y = j * shift + centery + 3.0;
+
+            // Build the rigid body.
+            let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(x, y);
+            let body = world.createRigidBody(bodyDesc);
+
+            if (j % 2 == 0) {
+                let colliderDesc = RAPIER.ColliderDesc.cuboid(rad, rad);
+                world.createCollider(colliderDesc, body);
+            } else {
+                let colliderDesc = RAPIER.ColliderDesc.ball(rad);
+                world.createCollider(colliderDesc, body);
+            }
+        }
+    }
+
+    testbed.setWorld(world);
+    testbed.lookAt({
+        target: {x: -10.0, y: -15.0},
+        zoom: 10.0,
+    });
+}
diff --git a/thirdparty/rapier.js/testbed2d/src/demos/keva.ts b/thirdparty/rapier.js/testbed2d/src/demos/keva.ts
new file mode 100644
index 00000000..6ca57c0c
--- /dev/null
+++ b/thirdparty/rapier.js/testbed2d/src/demos/keva.ts
@@ -0,0 +1,92 @@
+import type * as RAPIER from "@dimforge/rapier2d";
+import type {Testbed} from "../Testbed";
+
+type RAPIER_API = typeof import("@dimforge/rapier2d");
+
+function buildBlock(
+    RAPIER: RAPIER_API,
+    world: RAPIER.World,
+    halfExtents: RAPIER.Vector,
+    shift: RAPIER.Vector,
+    numx: number,
+    numy: number,
+    numz: number,
+) {
+    let halfExtents_yx = {x: halfExtents.y, y: halfExtents.x};
+    let dimensions = [halfExtents, halfExtents_yx];
+    let spacing = (halfExtents.y * numx - halfExtents.x) / (numz - 1.0);
+
+    let i;
+    let j;
+    let y = 0.0;
+
+    for (i = 0; i <= numy; ++i) {
+        let dim = dimensions[i % 2];
+        [numx, numz] = [numz, numx];
+
+        for (j = 0; j < numx; ++j) {
+            let x = i % 2 == 0 ? spacing * j * 2.0 : dim.x * j * 2.0;
+
+            // Build the rigid body.
+            let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(
+                x + dim.x + shift.x,
+                y + dim.y + shift.y,
+            );
+            let body = world.createRigidBody(bodyDesc);
+            let colliderDesc = RAPIER.ColliderDesc.cuboid(dim.x, dim.y);
+            world.createCollider(colliderDesc, body);
+        }
+
+        y += dim.y * 2.0;
+    }
+}
+
+export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
+    let gravity = new RAPIER.Vector2(0.0, -9.81);
+    let world = new RAPIER.World(gravity);
+
+    // Create Ground.
+    let groundSize = 150.0;
+    let groundHeight = 0.1;
+    let bodyDesc = RAPIER.RigidBodyDesc.fixed().setTranslation(
+        0.0,
+        -groundHeight,
+    );
+    let body = world.createRigidBody(bodyDesc);
+    let colliderDesc = RAPIER.ColliderDesc.cuboid(groundSize, groundHeight);
+    world.createCollider(colliderDesc, body);
+
+    // Keva tower.
+    let halfExtents = new RAPIER.Vector2(0.5, 2.0);
+    let blockHeight = 0.0;
+    // These should only be set to odd values otherwise
+    // the blocks won't align in the nicest way.
+    let numyArr = [0, 3, 5, 5, 7, 9];
+    let numBlocksBuilt = 0;
+    let i;
+
+    for (i = 5; i >= 1; --i) {
+        let numx = i * 15;
+        let numy = numyArr[i];
+        let numz = numx * 2 + 1;
+        let blockWidth = numx * halfExtents.y * 2.0;
+        buildBlock(
+            RAPIER,
+            world,
+            halfExtents,
+            new RAPIER.Vector2(-blockWidth / 2.0, blockHeight),
+            numx,
+            numy,
+            numz,
+        );
+        blockHeight += (numy + 1) * (halfExtents.x + halfExtents.y);
+        numBlocksBuilt += numx * numy;
+    }
+
+    testbed.setWorld(world);
+
+    testbed.lookAt({
+        target: {x: -10.0, y: -5.0},
+        zoom: 4.0,
+    });
+}
diff --git a/thirdparty/rapier.js/testbed2d/src/demos/lockedRotations.ts b/thirdparty/rapier.js/testbed2d/src/demos/lockedRotations.ts
new file mode 100644
index 00000000..8600f95f
--- /dev/null
+++ b/thirdparty/rapier.js/testbed2d/src/demos/lockedRotations.ts
@@ -0,0 +1,51 @@
+import type {Testbed} from "../Testbed";
+
+type RAPIER_API = typeof import("@dimforge/rapier2d");
+
+export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
+    let gravity = new RAPIER.Vector2(0.0, -9.81);
+    let world = new RAPIER.World(gravity);
+
+    /*
+     * The ground
+     */
+    let ground_size = 1.8;
+    let ground_height = 1.0;
+
+    let bodyDesc = RAPIER.RigidBodyDesc.fixed().setTranslation(
+        0.0,
+        -ground_height,
+    );
+    let body = world.createRigidBody(bodyDesc);
+    let colliderDesc = RAPIER.ColliderDesc.cuboid(ground_size, ground_height);
+    world.createCollider(colliderDesc, body);
+
+    /*
+     * A rectangle that only rotates along the `x` axis.
+     */
+    bodyDesc = RAPIER.RigidBodyDesc.dynamic()
+        .setTranslation(0.0, 3.0)
+        .lockTranslations();
+    body = world.createRigidBody(bodyDesc);
+    colliderDesc = RAPIER.ColliderDesc.cuboid(2.0, 0.6);
+    world.createCollider(colliderDesc, body);
+
+    /*
+     * A cuboid that cannot rotate.
+     */
+    bodyDesc = RAPIER.RigidBodyDesc.dynamic()
+        .setTranslation(0.4, 5.0)
+        .lockRotations();
+    body = world.createRigidBody(bodyDesc);
+    colliderDesc = RAPIER.ColliderDesc.cuboid(0.4, 0.6);
+    world.createCollider(colliderDesc, body);
+
+    /*
+     * Setup the testbed.
+     */
+    testbed.setWorld(world);
+    testbed.lookAt({
+        target: {x: 0.0, y: -2.0},
+        zoom: 50.0,
+    });
+}
diff --git a/thirdparty/rapier.js/testbed2d/src/demos/pidController.ts b/thirdparty/rapier.js/testbed2d/src/demos/pidController.ts
new file mode 100644
index 00000000..fac2a7c4
--- /dev/null
+++ b/thirdparty/rapier.js/testbed2d/src/demos/pidController.ts
@@ -0,0 +1,100 @@
+import type {Testbed} from "../Testbed";
+
+type RAPIER_API = typeof import("@dimforge/rapier2d");
+
+export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
+    let gravity = new RAPIER.Vector2(0.0, -9.81);
+    let world = new RAPIER.World(gravity);
+
+    // Create Ground.
+    let bodyDesc = RAPIER.RigidBodyDesc.fixed();
+    let body = world.createRigidBody(bodyDesc);
+    let colliderDesc = RAPIER.ColliderDesc.cuboid(15.0, 0.1);
+    world.createCollider(colliderDesc, body);
+
+    // Dynamic cubes.
+    let rad = 0.5;
+    let num = 5;
+    let i, j, k;
+    let shift = rad * 2.5;
+    let center = num * rad;
+    let height = 5.0;
+
+    for (i = 0; i < num; ++i) {
+        for (k = i; k < num; ++k) {
+            let x = (i * shift) / 2.0 + (k - i) * shift - center;
+            let y = (i * shift) / 2.0 + height;
+
+            // Create dynamic cube.
+            let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(x, y);
+            let body = world.createRigidBody(bodyDesc);
+            let colliderDesc = RAPIER.ColliderDesc.cuboid(rad, rad / 2.0);
+            world.createCollider(colliderDesc, body);
+        }
+    }
+
+    // Character.
+    let characterDesc = RAPIER.RigidBodyDesc.dynamic()
+        .setTranslation(-10.0, 4.0)
+        .setGravityScale(10.0)
+        .setSoftCcdPrediction(10.0);
+    let character = world.createRigidBody(characterDesc);
+    let characterColliderDesc = RAPIER.ColliderDesc.cuboid(0.6, 1.2);
+    world.createCollider(characterColliderDesc, character);
+
+    let pidController = world.createPidController(
+        60.0,
+        0.0,
+        1.0,
+        RAPIER.PidAxesMask.AllAng,
+    );
+    let speed = 0.2;
+    let movementDirection = {x: 0.0, y: 0.0};
+    let targetVelocity = {x: 0.0, y: 0.0};
+    let targetRotation = 0.0;
+
+    let updateCharacter = () => {
+        if (movementDirection.x == 0.0 && movementDirection.y == 0.0) {
+            // Only adjust the rotation, but let translation.
+            pidController.setAxes(RAPIER.PidAxesMask.AllAng);
+        } else if (movementDirection.y == 0.0) {
+            // Don’t control the linear Y axis so the player can fall down due to gravity.
+            pidController.setAxes(
+                RAPIER.PidAxesMask.AllAng | RAPIER.PidAxesMask.LinX,
+            );
+        } else {
+            pidController.setAxes(RAPIER.PidAxesMask.All);
+        }
+
+        let targetPoint = character.translation();
+        targetPoint.x += movementDirection.x;
+        targetPoint.y += movementDirection.y;
+
+        pidController.applyLinearCorrection(
+            character,
+            targetPoint,
+            targetVelocity,
+        );
+        pidController.applyAngularCorrection(character, 0.0, 0.0);
+    };
+
+    testbed.setWorld(world);
+    testbed.setpreTimestepAction(updateCharacter);
+
+    document.onkeydown = function (event: KeyboardEvent) {
+        if (event.key == "ArrowLeft") movementDirection.x = -speed;
+        if (event.key == "ArrowRight") movementDirection.x = speed;
+        if (event.key == " ") movementDirection.y = speed;
+    };
+
+    document.onkeyup = function (event: KeyboardEvent) {
+        if (event.key == "ArrowLeft") movementDirection.x = 0.0;
+        if (event.key == "ArrowRight") movementDirection.x = 0.0;
+        if (event.key == " ") movementDirection.y = 0.0;
+    };
+
+    testbed.lookAt({
+        target: {x: 0.0, y: -1.0},
+        zoom: 50.0,
+    });
+}
diff --git a/thirdparty/rapier.js/testbed2d/src/demos/polyline.ts b/thirdparty/rapier.js/testbed2d/src/demos/polyline.ts
new file mode 100644
index 00000000..47d82540
--- /dev/null
+++ b/thirdparty/rapier.js/testbed2d/src/demos/polyline.ts
@@ -0,0 +1,64 @@
+import type {Testbed} from "../Testbed";
+
+type RAPIER_API = typeof import("@dimforge/rapier2d");
+
+export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
+    let gravity = new RAPIER.Vector2(0.0, -9.81);
+    let world = new RAPIER.World(gravity);
+    let i, j;
+
+    /*
+     * Ground
+     */
+    let nsubdivs = 100;
+    let points = [];
+    let groundSize = 30.0;
+    let stepSize = groundSize / nsubdivs;
+
+    points.push(-groundSize / 2.0, 25.0);
+    for (i = 1; i < nsubdivs; ++i) {
+        let x = -groundSize / 2.0 + i * stepSize;
+        let y = Math.cos(i * stepSize) * 2.0;
+        points.push(x, y);
+    }
+    points.push(groundSize / 2.0, 25.0);
+    let bodyDesc = RAPIER.RigidBodyDesc.fixed();
+    let body = world.createRigidBody(bodyDesc);
+    let colliderDesc = RAPIER.ColliderDesc.polyline(new Float32Array(points));
+    world.createCollider(colliderDesc, body);
+
+    /*
+     * Create the cubes
+     */
+    let num = 10;
+    let rad = 0.5;
+
+    let shift = rad * 2.0;
+    let centerx = shift * (num / 2);
+    let centery = shift / 2.0;
+
+    for (i = 0; i < num; ++i) {
+        for (j = 0; j < num * 5; ++j) {
+            let x = i * shift - centerx;
+            let y = j * shift + centery + 3.0;
+
+            // Build the rigid body.
+            let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(x, y);
+            let body = world.createRigidBody(bodyDesc);
+
+            if (j % 2 == 0) {
+                let colliderDesc = RAPIER.ColliderDesc.cuboid(rad, rad);
+                world.createCollider(colliderDesc, body);
+            } else {
+                let colliderDesc = RAPIER.ColliderDesc.ball(rad);
+                world.createCollider(colliderDesc, body);
+            }
+        }
+    }
+
+    testbed.setWorld(world);
+    testbed.lookAt({
+        target: {x: -10.0, y: -15.0},
+        zoom: 10.0,
+    });
+}
diff --git a/thirdparty/rapier.js/testbed2d/src/demos/revoluteJoints.ts b/thirdparty/rapier.js/testbed2d/src/demos/revoluteJoints.ts
new file mode 100644
index 00000000..2d7923fd
--- /dev/null
+++ b/thirdparty/rapier.js/testbed2d/src/demos/revoluteJoints.ts
@@ -0,0 +1,59 @@
+import type {Testbed} from "../Testbed";
+
+type RAPIER_API = typeof import("@dimforge/rapier2d");
+
+export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
+    let gravity = new RAPIER.Vector2(0.0, -9.81);
+    let world = new RAPIER.World(gravity);
+    let bodies = [];
+
+    let rad = 0.4;
+    let numi = 30; // Num vertical nodes.
+    let numk = 30; // Num horizontal nodes.
+    let shift = 1.0;
+    let i, k;
+
+    for (k = 0; k < numk; ++k) {
+        for (i = 0; i < numi; ++i) {
+            let status =
+                k >= numk / 2 - 3 && k <= numk / 2 + 3 && i == 0
+                    ? RAPIER.RigidBodyType.Fixed
+                    : RAPIER.RigidBodyType.Dynamic;
+
+            let bodyDesc = new RAPIER.RigidBodyDesc(status).setTranslation(
+                k * shift,
+                -i * shift,
+            );
+            let child = world.createRigidBody(bodyDesc);
+            let colliderDesc = RAPIER.ColliderDesc.ball(rad);
+            world.createCollider(colliderDesc, child);
+
+            // Vertical joint.
+            if (i > 0) {
+                let parent = bodies[bodies.length - 1];
+                let anchor1 = new RAPIER.Vector2(0.0, 0.0);
+                let anchor2 = new RAPIER.Vector2(0.0, shift);
+                let JointData = RAPIER.JointData.revolute(anchor1, anchor2);
+                world.createImpulseJoint(JointData, parent, child, true);
+            }
+
+            // Horizontal joint.
+            if (k > 0) {
+                let parentIndex = bodies.length - numi;
+                let parent = bodies[parentIndex];
+                let anchor1 = new RAPIER.Vector2(0.0, 0.0);
+                let anchor2 = new RAPIER.Vector2(-shift, 0.0);
+                let JointData = RAPIER.JointData.revolute(anchor1, anchor2);
+                world.createImpulseJoint(JointData, parent, child, true);
+            }
+
+            bodies.push(child);
+        }
+    }
+
+    testbed.setWorld(world);
+    testbed.lookAt({
+        target: {x: 30.0, y: 30.0},
+        zoom: 10.0,
+    });
+}
diff --git a/thirdparty/rapier.js/testbed2d/src/demos/voxels.ts b/thirdparty/rapier.js/testbed2d/src/demos/voxels.ts
new file mode 100644
index 00000000..6a6fc366
--- /dev/null
+++ b/thirdparty/rapier.js/testbed2d/src/demos/voxels.ts
@@ -0,0 +1,90 @@
+import type {Testbed} from "../Testbed";
+
+type RAPIER_API = typeof import("@dimforge/rapier2d");
+
+function generateVoxels(n: number) {
+    let points = [];
+
+    let i;
+    for (i = 0; i <= n; ++i) {
+        let y = Math.max(-0.8, Math.min(Math.sin((i / n) * 10.0), 0.8)) * 8.0;
+        points.push(i - n / 2.0, y);
+    }
+    return {
+        points: new Float32Array(points),
+        voxelSize: {x: 1.0, y: 1.2},
+    };
+}
+
+export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
+    let gravity = new RAPIER.Vector2(0.0, -9.81);
+    let world = new RAPIER.World(gravity);
+
+    // Create Ground.
+    let bodyDesc = RAPIER.RigidBodyDesc.fixed();
+    let body = world.createRigidBody(bodyDesc);
+    let voxels = generateVoxels(100);
+    let colliderDesc = RAPIER.ColliderDesc.voxels(
+        voxels.points,
+        voxels.voxelSize,
+    );
+    world.createCollider(colliderDesc, body);
+
+    // Dynamic cubes.
+    let num = 10;
+    let numy = 4;
+    let rad = 1.0;
+
+    let shift = rad * 2.0 + rad;
+    let centery = shift / 2.0;
+
+    let offset = -num * (rad * 2.0 + rad) * 0.5;
+    let i, j;
+
+    for (j = 0; j < numy; ++j) {
+        for (i = 0; i < num; ++i) {
+            let x = i * shift + offset;
+            let y = j * shift + centery + 10.0;
+
+            // Create dynamic cube.
+            let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(x, y);
+            let body = world.createRigidBody(bodyDesc);
+            let colliderDesc;
+
+            switch (j % 3) {
+                case 0:
+                    colliderDesc = RAPIER.ColliderDesc.cuboid(rad, rad);
+                    break;
+                case 1:
+                    colliderDesc = RAPIER.ColliderDesc.ball(rad);
+                    break;
+                case 2:
+                    colliderDesc = RAPIER.ColliderDesc.cuboid(
+                        rad / 2.0,
+                        rad / 2.0,
+                    );
+                    world.createCollider(colliderDesc, body);
+                    colliderDesc = RAPIER.ColliderDesc.cuboid(
+                        rad / 2.0,
+                        rad,
+                    ).setTranslation(rad, 0.0);
+                    world.createCollider(colliderDesc, body);
+                    colliderDesc = RAPIER.ColliderDesc.cuboid(
+                        rad / 2.0,
+                        rad,
+                    ).setTranslation(-rad, 0.0);
+                    break;
+            }
+
+            world.createCollider(colliderDesc, body);
+        }
+
+        offset -= 0.05 * rad * (num - 1.0);
+    }
+
+    testbed.setWorld(world);
+    testbed.lookAt({
+        target: {x: 0.0, y: 0.0},
+        zoom: 20.0,
+    });
+}
diff --git a/thirdparty/rapier.js/testbed2d/src/index.ts b/thirdparty/rapier.js/testbed2d/src/index.ts
new file mode 100644
index 00000000..24bd18f4
--- /dev/null
+++ b/thirdparty/rapier.js/testbed2d/src/index.ts
@@ -0,0 +1,30 @@
+import {Testbed} from "./Testbed";
+import * as CollisionGroups from "./demos/collisionGroups";
+import * as Cubes from "./demos/cubes";
+import * as Keva from "./demos/keva";
+import * as Heightfield from "./demos/heightfield";
+import * as Polyline from "./demos/polyline";
+import * as RevoluteJoints from "./demos/revoluteJoints";
+import * as LockedRotations from "./demos/lockedRotations";
+import * as ConvexPolygons from "./demos/convexPolygons";
+import * as CharacterController from "./demos/characterController";
+import * as PidController from "./demos/pidController";
+import * as Voxels from "./demos/voxels";
+
+import("@dimforge/rapier2d").then((RAPIER) => {
+    let builders = new Map([
+        ["collision groups", CollisionGroups.initWorld],
+        ["character controller", CharacterController.initWorld],
+        ["convex polygons", ConvexPolygons.initWorld],
+        ["cubes", Cubes.initWorld],
+        ["heightfield", Heightfield.initWorld],
+        ["joints: revolute", RevoluteJoints.initWorld],
+        ["keva tower", Keva.initWorld],
+        ["locked rotations", LockedRotations.initWorld],
+        ["pid controller", PidController.initWorld],
+        ["polyline", Polyline.initWorld],
+        ["voxels", Voxels.initWorld],
+    ]);
+    let testbed = new Testbed(RAPIER, builders);
+    testbed.run();
+});
diff --git a/thirdparty/rapier.js/testbed2d/static/.htaccess b/thirdparty/rapier.js/testbed2d/static/.htaccess
new file mode 100644
index 00000000..9bdb356b
--- /dev/null
+++ b/thirdparty/rapier.js/testbed2d/static/.htaccess
@@ -0,0 +1,3 @@
+RewriteEngine On
+RewriteCond %{SERVER_PORT} 80
+RewriteRule ^(.*)$ https://www.rapier.rs/$1 [R,L]
diff --git a/thirdparty/rapier.js/testbed2d/static/index.html b/thirdparty/rapier.js/testbed2d/static/index.html
new file mode 100644
index 00000000..6df5b069
--- /dev/null
+++ b/thirdparty/rapier.js/testbed2d/static/index.html
@@ -0,0 +1,18 @@
+<!DOCTYPE html>
+<html>
+    <head>
+        <meta charset="utf-8" />
+        <title>Rapier2D JS bindings demo</title>
+        <style>
+            body {
+                margin: 0;
+            }
+            canvas {
+                display: block;
+            }
+        </style>
+    </head>
+    <body>
+        <script src="index.js"></script>
+    </body>
+</html>
diff --git a/thirdparty/rapier.js/testbed2d/tsconfig.json b/thirdparty/rapier.js/testbed2d/tsconfig.json
new file mode 100644
index 00000000..5d07ecd8
--- /dev/null
+++ b/thirdparty/rapier.js/testbed2d/tsconfig.json
@@ -0,0 +1,11 @@
+{
+    "compilerOptions": {
+        "outDir": "./dist/",
+        "noImplicitAny": true,
+        "module": "es2022",
+        "target": "es2022",
+        "allowJs": true,
+        "moduleResolution": "node",
+        "allowSyntheticDefaultImports": true
+    }
+}
diff --git a/thirdparty/rapier.js/testbed2d/webpack.config.js b/thirdparty/rapier.js/testbed2d/webpack.config.js
new file mode 100644
index 00000000..0e5c9839
--- /dev/null
+++ b/thirdparty/rapier.js/testbed2d/webpack.config.js
@@ -0,0 +1,55 @@
+const webpack = require("webpack");
+const path = require("path");
+const CopyPlugin = require("copy-webpack-plugin");
+
+const isDev = process.env.NODE_ENV === "development";
+const dist = path.resolve(__dirname, "dist");
+
+/**
+ * @type {import('webpack-dev-server').Configuration}
+ */
+const devServer = {
+    static: {
+        directory: dist,
+    },
+    allowedHosts: "all",
+    compress: true,
+};
+
+/**
+ * @type {import('webpack').Configuration}
+ */
+const webpackConfig = {
+    mode: isDev ? "development" : "production",
+    entry: "./src/index.ts",
+    devtool: "inline-source-map",
+    output: {
+        path: dist,
+        filename: "index.js",
+    },
+    resolve: {
+        extensions: [".ts", ".js"],
+    },
+    devServer,
+    performance: false,
+    experiments: {
+        asyncWebAssembly: true,
+        syncWebAssembly: true,
+    },
+    module: {
+        rules: [
+            {
+                test: /\.tsx?$/,
+                use: "ts-loader",
+                exclude: /node_modules/,
+            },
+        ],
+    },
+    plugins: [
+        new CopyPlugin({
+            patterns: [{from: "static", to: dist}],
+        }),
+    ],
+};
+
+module.exports = webpackConfig;
diff --git a/thirdparty/rapier.js/testbed3d/.npmignore b/thirdparty/rapier.js/testbed3d/.npmignore
new file mode 100644
index 00000000..488f9125
--- /dev/null
+++ b/thirdparty/rapier.js/testbed3d/.npmignore
@@ -0,0 +1,3 @@
+webpack.config2d.js
+src
+*.tgz
\ No newline at end of file
diff --git a/thirdparty/rapier.js/testbed3d/package.json b/thirdparty/rapier.js/testbed3d/package.json
new file mode 100644
index 00000000..516ee275
--- /dev/null
+++ b/thirdparty/rapier.js/testbed3d/package.json
@@ -0,0 +1,32 @@
+{
+    "author": "sebcrozet <developer@crozet.re>",
+    "name": "rapier-testbed3d",
+    "version": "0.1.0",
+    "description": "JavaScript testbed for rapier.",
+    "license": "Apache-2.0",
+    "main": "dist/rapier-testbed3d.js",
+    "scripts": {
+        "build": "rimraf dist pkg && webpack",
+        "start": "rimraf dist pkg && webpack serve --open --node-env development"
+    },
+    "dependencies": {
+        "@dimforge/rapier3d": "file:../builds/rapier3d",
+        "hash-wasm": "^4.12.0",
+        "lil-gui": "^0.17.0",
+        "seedrandom": "^3.0.5",
+        "stats.js": "^0.17.0",
+        "three": "^0.146.0"
+    },
+    "devDependencies": {
+        "@types/seedrandom": "^3.0.2",
+        "@types/stats.js": "^0.17.0",
+        "@types/three": "^0.144.0",
+        "copy-webpack-plugin": "^11.0.0",
+        "rimraf": "^3.0.2",
+        "ts-loader": "^9.4.1",
+        "typescript": "^4.8.4",
+        "webpack": "^5.74.0",
+        "webpack-cli": "^4.10.0",
+        "webpack-dev-server": "^4.11.1"
+    }
+}
diff --git a/thirdparty/rapier.js/testbed3d/publish.sh b/thirdparty/rapier.js/testbed3d/publish.sh
new file mode 100644
index 00000000..e8bc248f
--- /dev/null
+++ b/thirdparty/rapier.js/testbed3d/publish.sh
@@ -0,0 +1,6 @@
+#!/bin/bash
+
+npm run build
+rsync -av --delete-after dist/ crozet@ssh.cluster003.hosting.ovh.net:/home/crozet/rapier/demos3d
+# rsync -av dist/ammo.wasm.wasm crozet@ssh.cluster003.hosting.ovh.net:/home/crozet/rapier/ammo.wasm.wasm
+# rsync -av dist/physx.release.wasm crozet@ssh.cluster003.hosting.ovh.net:/home/crozet/rapier/physx.release.wasm
diff --git a/thirdparty/rapier.js/testbed3d/src/Graphics.ts b/thirdparty/rapier.js/testbed3d/src/Graphics.ts
new file mode 100644
index 00000000..f52d6c96
--- /dev/null
+++ b/thirdparty/rapier.js/testbed3d/src/Graphics.ts
@@ -0,0 +1,576 @@
+import * as THREE from "three";
+import {OrbitControls} from "three/examples/jsm/controls/OrbitControls";
+import RAPIER from "@dimforge/rapier3d";
+
+const BOX_INSTANCE_INDEX = 0;
+const BALL_INSTANCE_INDEX = 1;
+const CYLINDER_INSTANCE_INDEX = 2;
+const CONE_INSTANCE_INDEX = 3;
+
+var dummy = new THREE.Object3D();
+var kk = 0;
+
+interface InstanceDesc {
+    groupId: number;
+    instanceId: number;
+    elementId: number;
+    highlighted: boolean;
+    scale?: THREE.Vector3;
+}
+
+type RAPIER_API = typeof import("@dimforge/rapier3d");
+
+// NOTE: this is a very naive voxels -> mesh conversion. Proper
+//       conversions should use something like greedy meshing instead.
+function genVoxelsGeometry(collider: RAPIER.Collider) {
+    // Clear the cached shape so it gets recomputed from the source of truth,
+    // and so we’ll be sure that the data contain grid coordinates even if the
+    // voxels were initialized with floating points.
+    collider.clearShapeCache();
+    let shape = collider.shape as RAPIER.Voxels;
+    let gridCoords = shape.data;
+    let sz = shape.voxelSize;
+    let vertices = [];
+    let indices = [];
+
+    let i: number;
+    for (i = 0; i < gridCoords.length; i += 3) {
+        let minx = gridCoords[i] * sz.x;
+        let miny = gridCoords[i + 1] * sz.y;
+        let minz = gridCoords[i + 2] * sz.z;
+        let maxx = minx + sz.x;
+        let maxy = miny + sz.y;
+        let maxz = minz + sz.z;
+
+        let k: number = vertices.length / 3;
+        vertices.push(minx, miny, maxz);
+        vertices.push(minx, miny, minz);
+        vertices.push(maxx, miny, minz);
+        vertices.push(maxx, miny, maxz);
+        vertices.push(minx, maxy, maxz);
+        vertices.push(minx, maxy, minz);
+        vertices.push(maxx, maxy, minz);
+        vertices.push(maxx, maxy, maxz);
+
+        indices.push(k + 4, k + 5, k + 0);
+        indices.push(k + 5, k + 1, k + 0);
+        indices.push(k + 5, k + 6, k + 1);
+        indices.push(k + 6, k + 2, k + 1);
+        indices.push(k + 6, k + 7, k + 3);
+        indices.push(k + 2, k + 6, k + 3);
+        indices.push(k + 7, k + 4, k + 0);
+        indices.push(k + 3, k + 7, k + 0);
+        indices.push(k + 0, k + 1, k + 2);
+        indices.push(k + 3, k + 0, k + 2);
+        indices.push(k + 7, k + 6, k + 5);
+        indices.push(k + 4, k + 7, k + 5);
+    }
+
+    return {
+        vertices: new Float32Array(vertices),
+        indices: new Uint32Array(indices),
+    };
+}
+
+function genHeightfieldGeometry(collider: RAPIER.Collider) {
+    let heights = collider.heightfieldHeights();
+    let nrows = collider.heightfieldNRows();
+    let ncols = collider.heightfieldNCols();
+    let scale = collider.heightfieldScale();
+
+    let vertices = [];
+    let indices = [];
+    let eltWX = 1.0 / nrows;
+    let eltWY = 1.0 / ncols;
+
+    let i: number;
+    let j: number;
+    for (j = 0; j <= ncols; ++j) {
+        for (i = 0; i <= nrows; ++i) {
+            let x = (j * eltWX - 0.5) * scale.x;
+            let y = heights[j * (nrows + 1) + i] * scale.y;
+            let z = (i * eltWY - 0.5) * scale.z;
+
+            vertices.push(x, y, z);
+        }
+    }
+
+    for (j = 0; j < ncols; ++j) {
+        for (i = 0; i < nrows; ++i) {
+            let i1 = (i + 0) * (ncols + 1) + (j + 0);
+            let i2 = (i + 0) * (ncols + 1) + (j + 1);
+            let i3 = (i + 1) * (ncols + 1) + (j + 0);
+            let i4 = (i + 1) * (ncols + 1) + (j + 1);
+
+            indices.push(i1, i3, i2);
+            indices.push(i3, i4, i2);
+        }
+    }
+
+    return {
+        vertices: new Float32Array(vertices),
+        indices: new Uint32Array(indices),
+    };
+}
+
+export class Graphics {
+    raycaster: THREE.Raycaster;
+    highlightedCollider: null | number;
+    coll2instance: Map<number, InstanceDesc>;
+    coll2mesh: Map<number, THREE.Mesh>;
+    rb2colls: Map<number, Array<RAPIER.Collider>>;
+    colorIndex: number;
+    colorPalette: Array<number>;
+    scene: THREE.Scene;
+    camera: THREE.PerspectiveCamera;
+    renderer: THREE.WebGLRenderer;
+    light: THREE.PointLight;
+    lines: THREE.LineSegments;
+    controls: OrbitControls;
+    instanceGroups: Array<Array<THREE.InstancedMesh>>;
+
+    constructor() {
+        this.raycaster = new THREE.Raycaster();
+        this.highlightedCollider = null;
+        this.coll2instance = new Map();
+        this.coll2mesh = new Map();
+        this.rb2colls = new Map();
+        this.colorIndex = 0;
+        this.colorPalette = [0xf3d9b1, 0x98c1d9, 0x053c5e, 0x1f7a8c, 0xff0000];
+        this.scene = new THREE.Scene();
+        this.camera = new THREE.PerspectiveCamera(
+            45,
+            window.innerWidth / window.innerHeight,
+            0.1,
+            10000,
+        );
+        this.renderer = new THREE.WebGLRenderer({antialias: true});
+        this.renderer.setSize(window.innerWidth, window.innerHeight);
+        this.renderer.setClearColor(0x292929, 1);
+        // High pixel Ratio make the rendering extremely slow, so we cap it.
+        const pixelRatio = window.devicePixelRatio
+            ? Math.min(window.devicePixelRatio, 1.5)
+            : 1;
+        this.renderer.setPixelRatio(pixelRatio);
+        document.body.appendChild(this.renderer.domElement);
+
+        let ambientLight = new THREE.AmbientLight(0x606060);
+        this.scene.add(ambientLight);
+        this.light = new THREE.PointLight(0xffffff, 1, 1000);
+        this.scene.add(this.light);
+
+        // For the debug-renderer.
+        {
+            let material = new THREE.LineBasicMaterial({
+                color: 0xffffff,
+                vertexColors: true,
+            });
+            let geometry = new THREE.BufferGeometry();
+            this.lines = new THREE.LineSegments(geometry, material);
+            this.scene.add(this.lines);
+        }
+        let me = this;
+
+        function onWindowResize() {
+            if (!!me.camera) {
+                me.camera.aspect = window.innerWidth / window.innerHeight;
+                me.camera.updateProjectionMatrix();
+                me.renderer.setSize(window.innerWidth, window.innerHeight);
+            }
+        }
+
+        window.addEventListener("resize", onWindowResize, false);
+
+        this.controls = new OrbitControls(
+            this.camera,
+            this.renderer.domElement,
+        );
+        this.controls.enableDamping = true;
+        this.controls.dampingFactor = 0.2;
+        this.controls.maxPolarAngle = Math.PI / 2;
+        this.initInstances();
+    }
+
+    initInstances() {
+        this.instanceGroups = [];
+        this.instanceGroups.push(
+            this.colorPalette.map((color) => {
+                let box = new THREE.BoxGeometry(2.0, 2.0, 2.0);
+                let mat = new THREE.MeshPhongMaterial({
+                    color: color,
+                    flatShading: true,
+                });
+                return new THREE.InstancedMesh(box, mat, 1000);
+            }),
+        );
+
+        this.instanceGroups.push(
+            this.colorPalette.map((color) => {
+                let ball = new THREE.SphereGeometry(1.0);
+                let mat = new THREE.MeshPhongMaterial({
+                    color: color,
+                    flatShading: true,
+                });
+                return new THREE.InstancedMesh(ball, mat, 1000);
+            }),
+        );
+
+        this.instanceGroups.push(
+            this.colorPalette.map((color) => {
+                let cylinder = new THREE.CylinderGeometry(1.0, 1.0);
+                let mat = new THREE.MeshPhongMaterial({
+                    color: color,
+                    flatShading: true,
+                });
+                return new THREE.InstancedMesh(cylinder, mat, 100);
+            }),
+        );
+
+        this.instanceGroups.push(
+            this.colorPalette.map((color) => {
+                let cone = new THREE.ConeGeometry(1.0, 1.0);
+                let mat = new THREE.MeshPhongMaterial({
+                    color: color,
+                    flatShading: true,
+                });
+                return new THREE.InstancedMesh(cone, mat, 100);
+            }),
+        );
+
+        this.instanceGroups.forEach((groups) => {
+            groups.forEach((instance) => {
+                instance.userData.elementId2coll = new Map();
+                instance.count = 0;
+                instance.instanceMatrix.setUsage(THREE.DynamicDrawUsage);
+                this.scene.add(instance);
+            });
+        });
+    }
+
+    render(world: RAPIER.World, debugRender: boolean) {
+        kk += 1;
+        this.controls.update();
+        // if (kk % 100 == 0) {
+        //     console.log(this.camera.position);
+        //     console.log(this.controls.target);
+        // }
+
+        this.light.position.set(
+            this.camera.position.x,
+            this.camera.position.y,
+            this.camera.position.z,
+        );
+
+        if (debugRender) {
+            let buffers = world.debugRender();
+            this.lines.visible = true;
+            this.lines.geometry.setAttribute(
+                "position",
+                new THREE.BufferAttribute(buffers.vertices, 3),
+            );
+            this.lines.geometry.setAttribute(
+                "color",
+                new THREE.BufferAttribute(buffers.colors, 4),
+            );
+        } else {
+            this.lines.visible = false;
+        }
+
+        this.updatePositions(world);
+        this.renderer.render(this.scene, this.camera);
+    }
+
+    rayAtMousePosition(pos: {x: number; y: number}) {
+        this.raycaster.setFromCamera(pos, this.camera);
+        return this.raycaster.ray;
+    }
+
+    lookAt(pos: {
+        target: {x: number; y: number; z: number};
+        eye: {x: number; y: number; z: number};
+    }) {
+        this.camera.position.set(pos.eye.x, pos.eye.y, pos.eye.z);
+        this.controls.target.set(pos.target.x, pos.target.y, pos.target.z);
+        this.controls.update();
+    }
+
+    highlightInstanceId() {
+        return this.colorPalette.length - 1;
+    }
+
+    highlightCollider(handle: number) {
+        if (handle == this.highlightedCollider)
+            // Avoid flickering when moving the mouse on a single collider.
+            return;
+
+        if (this.highlightedCollider != null) {
+            let desc = this.coll2instance.get(this.highlightedCollider);
+
+            if (!!desc) {
+                desc.highlighted = false;
+                this.instanceGroups[desc.groupId][
+                    this.highlightInstanceId()
+                ].count = 0;
+            }
+        }
+        if (handle != null) {
+            let desc = this.coll2instance.get(handle);
+
+            if (!!desc) {
+                if (desc.instanceId != 0)
+                    // Don't highlight static/kinematic bodies.
+                    desc.highlighted = true;
+            }
+        }
+        this.highlightedCollider = handle;
+    }
+
+    updatePositions(world: RAPIER.World) {
+        world.forEachCollider((elt) => {
+            let gfx = this.coll2instance.get(elt.handle);
+            let translation = elt.translation();
+            let rotation = elt.rotation();
+
+            if (!!gfx) {
+                let instance = this.instanceGroups[gfx.groupId][gfx.instanceId];
+                dummy.scale.set(gfx.scale.x, gfx.scale.y, gfx.scale.z);
+                dummy.position.set(translation.x, translation.y, translation.z);
+                dummy.quaternion.set(
+                    rotation.x,
+                    rotation.y,
+                    rotation.z,
+                    rotation.w,
+                );
+                dummy.updateMatrix();
+                instance.setMatrixAt(gfx.elementId, dummy.matrix);
+
+                let highlightInstance =
+                    this.instanceGroups[gfx.groupId][
+                        this.highlightInstanceId()
+                    ];
+                if (gfx.highlighted) {
+                    highlightInstance.count = 1;
+                    highlightInstance.setMatrixAt(0, dummy.matrix);
+                }
+
+                instance.instanceMatrix.needsUpdate = true;
+                highlightInstance.instanceMatrix.needsUpdate = true;
+            }
+
+            let mesh = this.coll2mesh.get(elt.handle);
+
+            if (!!mesh) {
+                mesh.position.set(translation.x, translation.y, translation.z);
+                mesh.quaternion.set(
+                    rotation.x,
+                    rotation.y,
+                    rotation.z,
+                    rotation.w,
+                );
+                mesh.updateMatrix();
+            }
+        });
+    }
+
+    reset() {
+        this.instanceGroups.forEach((groups) => {
+            groups.forEach((instance) => {
+                instance.userData.elementId2coll = new Map();
+                instance.count = 0;
+            });
+        });
+
+        this.coll2mesh.forEach((mesh) => {
+            this.scene.remove(mesh);
+        });
+
+        this.coll2instance = new Map();
+        this.rb2colls = new Map();
+        this.colorIndex = 0;
+    }
+
+    // applyModifications(RAPIER: RAPIER_API, world: RAPIER.World, modifications) {
+    //     if (!!modifications) {
+    //         modifications.addCollider.forEach(coll => {
+    //             let collider = world.getCollider(coll.handle);
+    //             this.addCollider(RAPIER, world, collider);
+    //         });
+    //         modifications.removeRigidBody.forEach(body => {
+    //             if (!!this.rb2colls.get(body.handle)) {
+    //                 this.rb2colls.get(body.handle).forEach(coll => this.removeCollider(coll));
+    //                 this.rb2colls.delete(body.handle);
+    //             }
+    //         });
+    //     }
+    // }
+
+    removeRigidBody(body: RAPIER.RigidBody) {
+        if (!!this.rb2colls.get(body.handle)) {
+            this.rb2colls
+                .get(body.handle)
+                .forEach((coll) => this.removeCollider(coll));
+            this.rb2colls.delete(body.handle);
+        }
+    }
+
+    removeCollider(collider: RAPIER.Collider) {
+        let gfx = this.coll2instance.get(collider.handle);
+        let instance = this.instanceGroups[gfx.groupId][gfx.instanceId];
+
+        if (instance.count > 1) {
+            let coll2 = instance.userData.elementId2coll.get(
+                instance.count - 1,
+            );
+            instance.userData.elementId2coll.delete(instance.count - 1);
+            instance.userData.elementId2coll.set(gfx.elementId, coll2);
+
+            let gfx2 = this.coll2instance.get(coll2.handle);
+            gfx2.elementId = gfx.elementId;
+        }
+
+        instance.count -= 1;
+        this.coll2instance.delete(collider.handle);
+    }
+
+    addCollider(
+        RAPIER: RAPIER_API,
+        world: RAPIER.World,
+        collider: RAPIER.Collider,
+    ) {
+        this.colorIndex =
+            (this.colorIndex + 1) % (this.colorPalette.length - 2);
+        let parent = collider.parent();
+        if (!this.rb2colls.get(parent.handle)) {
+            this.rb2colls.set(parent.handle, [collider]);
+        } else {
+            this.rb2colls.get(parent.handle).push(collider);
+        }
+
+        let instance;
+        let instanceDesc: InstanceDesc = {
+            groupId: 0,
+            instanceId: parent.isFixed() ? 0 : this.colorIndex + 1,
+            elementId: 0,
+            highlighted: false,
+        };
+
+        switch (collider.shapeType()) {
+            case RAPIER.ShapeType.Cuboid:
+                let hext = collider.halfExtents();
+                instance =
+                    this.instanceGroups[BOX_INSTANCE_INDEX][
+                        instanceDesc.instanceId
+                    ];
+                instanceDesc.groupId = BOX_INSTANCE_INDEX;
+                instanceDesc.scale = new THREE.Vector3(hext.x, hext.y, hext.z);
+                break;
+            case RAPIER.ShapeType.Ball:
+                let rad = collider.radius();
+                instance =
+                    this.instanceGroups[BALL_INSTANCE_INDEX][
+                        instanceDesc.instanceId
+                    ];
+                instanceDesc.groupId = BALL_INSTANCE_INDEX;
+                instanceDesc.scale = new THREE.Vector3(rad, rad, rad);
+                break;
+            case RAPIER.ShapeType.Cylinder:
+            case RAPIER.ShapeType.RoundCylinder:
+                let cyl_rad = collider.radius();
+                let cyl_height = collider.halfHeight() * 2.0;
+                instance =
+                    this.instanceGroups[CYLINDER_INSTANCE_INDEX][
+                        instanceDesc.instanceId
+                    ];
+                instanceDesc.groupId = CYLINDER_INSTANCE_INDEX;
+                instanceDesc.scale = new THREE.Vector3(
+                    cyl_rad,
+                    cyl_height,
+                    cyl_rad,
+                );
+                break;
+            case RAPIER.ShapeType.Cone:
+                let cone_rad = collider.radius();
+                let cone_height = collider.halfHeight() * 2.0;
+                instance =
+                    this.instanceGroups[CONE_INSTANCE_INDEX][
+                        instanceDesc.instanceId
+                    ];
+                instanceDesc.groupId = CONE_INSTANCE_INDEX;
+                instanceDesc.scale = new THREE.Vector3(
+                    cone_rad,
+                    cone_height,
+                    cone_rad,
+                );
+                break;
+            case RAPIER.ShapeType.TriMesh:
+            case RAPIER.ShapeType.HeightField:
+            case RAPIER.ShapeType.ConvexPolyhedron:
+            case RAPIER.ShapeType.RoundConvexPolyhedron:
+            case RAPIER.ShapeType.Voxels:
+                let geometry = new THREE.BufferGeometry();
+                let vertices;
+                let indices;
+
+                if (collider.shapeType() == RAPIER.ShapeType.HeightField) {
+                    let g = genHeightfieldGeometry(collider);
+                    vertices = g.vertices;
+                    indices = g.indices;
+                } else if (collider.shapeType() == RAPIER.ShapeType.Voxels) {
+                    let g = genVoxelsGeometry(collider);
+                    vertices = g.vertices;
+                    indices = g.indices;
+                } else {
+                    vertices = collider.vertices();
+                    indices = collider.indices();
+                }
+
+                geometry.setIndex(Array.from(indices));
+                geometry.setAttribute(
+                    "position",
+                    new THREE.BufferAttribute(vertices, 3),
+                );
+                let color = parent.isFixed() ? 0 : this.colorIndex + 1;
+
+                let material = new THREE.MeshPhongMaterial({
+                    color: this.colorPalette[color],
+                    side: THREE.DoubleSide,
+                    flatShading: true,
+                });
+
+                let mesh = new THREE.Mesh(geometry, material);
+                this.scene.add(mesh);
+                this.coll2mesh.set(collider.handle, mesh);
+                return;
+            default:
+                console.log("Unknown shape to render.");
+                return;
+        }
+
+        if (!!instance) {
+            instanceDesc.elementId = instance.count;
+            instance.userData.elementId2coll.set(instance.count, collider);
+            instance.count += 1;
+        }
+
+        let highlightInstance =
+            this.instanceGroups[instanceDesc.groupId][
+                this.highlightInstanceId()
+            ];
+        highlightInstance.count = 0;
+
+        let t = collider.translation();
+        let r = collider.rotation();
+        dummy.position.set(t.x, t.y, t.z);
+        dummy.quaternion.set(r.x, r.y, r.z, r.w);
+        dummy.scale.set(
+            instanceDesc.scale.x,
+            instanceDesc.scale.y,
+            instanceDesc.scale.z,
+        );
+        dummy.updateMatrix();
+        instance.setMatrixAt(instanceDesc.elementId, dummy.matrix);
+        instance.instanceMatrix.needsUpdate = true;
+
+        this.coll2instance.set(collider.handle, instanceDesc);
+    }
+}
diff --git a/thirdparty/rapier.js/testbed3d/src/Gui.ts b/thirdparty/rapier.js/testbed3d/src/Gui.ts
new file mode 100644
index 00000000..e89b2f47
--- /dev/null
+++ b/thirdparty/rapier.js/testbed3d/src/Gui.ts
@@ -0,0 +1,167 @@
+import GUI from "lil-gui";
+import * as Stats from "stats.js";
+import type {Testbed} from "./Testbed";
+
+export interface DebugInfos {
+    token: number;
+    stepId: number;
+    worldHash: string;
+    worldHashTime: number;
+    snapshotTime: number;
+
+    timingStep: number;
+    timingCollisionDetection: number;
+    timingBroadPhase: number;
+    timingNarrowPhase: number;
+    timingSolver: number;
+    timingVelocityAssembly: number;
+    timingVelocityResolution: number;
+    timingVelocityUpdate: number;
+    timingVelocityWriteback: number;
+    timingCcd: number;
+    timingCcdToiComputation: number;
+    timingCcdBroadPhase: number;
+    timingCcdNarrowPhase: number;
+    timingCcdSolver: number;
+    timingIslandConstruction: number;
+    timingUserChanges: number;
+}
+
+export class Gui {
+    stats: Stats;
+    rapierVersion: string;
+    maxTimePanelValue: number;
+    stepTimePanel: Stats.Panel;
+    gui: GUI;
+    debugText: HTMLDivElement;
+
+    constructor(testbed: Testbed, simulationParameters: Testbed["parameters"]) {
+        // Timings
+        this.stats = new Stats();
+        this.rapierVersion = testbed.RAPIER.version();
+        this.maxTimePanelValue = 16.0;
+        this.stepTimePanel = this.stats.addPanel(
+            new Stats.Panel("ms (step)", "#ff8", "#221"),
+        );
+        this.stats.showPanel(this.stats.dom.children.length - 1);
+        document.body.appendChild(this.stats.dom);
+
+        var backends = simulationParameters.backends;
+        var demos = Array.from(simulationParameters.builders.keys());
+        var me = this;
+
+        // For configuring simulation parameters.
+        this.gui = new GUI({
+            title: "Rapier JS demos",
+        });
+        var currDemo = this.gui
+            .add(simulationParameters, "demo", demos)
+            .onChange((demo: string) => {
+                testbed.switchToDemo(demo);
+            });
+        this.gui
+            .add(simulationParameters, "numSolverIters", 0, 20)
+            .step(1)
+            .listen();
+        this.gui
+            .add(simulationParameters, "debugInfos")
+            .listen()
+            .onChange((value: boolean) => {
+                me.debugText.style.visibility = value ? "visible" : "hidden";
+            });
+        this.gui.add(simulationParameters, "debugRender").listen();
+        this.gui.add(simulationParameters, "running").listen();
+        this.gui.add(simulationParameters, "step");
+        simulationParameters.step = () => {
+            simulationParameters.stepping = true;
+        };
+        this.gui.add(simulationParameters, "takeSnapshot");
+        simulationParameters.takeSnapshot = () => {
+            testbed.takeSnapshot();
+        };
+        this.gui.add(simulationParameters, "restoreSnapshot");
+        simulationParameters.restoreSnapshot = () => {
+            testbed.restoreSnapshot();
+        };
+        this.gui.add(simulationParameters, "restart");
+        simulationParameters.restart = () => {
+            testbed.switchToDemo(currDemo.getValue());
+        };
+
+        /*
+         * Block of text for debug infos.
+         */
+        this.debugText = document.createElement("div");
+        this.debugText.style.position = "absolute";
+        this.debugText.innerHTML = "";
+        this.debugText.style.top = 50 + "px";
+        this.debugText.style.visibility = "visible";
+        this.debugText.style.color = "#fff";
+        document.body.appendChild(this.debugText);
+    }
+
+    setDebugInfos(infos: DebugInfos) {
+        let text = "Version " + this.rapierVersion;
+        text += "<br/>[Step " + infos.stepId + "]";
+
+        if (infos.worldHash) {
+            text +=
+                "<br/>World hash (xxHash128): " + infos.worldHash.toString();
+            text +=
+                "<br/>World hash time (xxHash128): " +
+                infos.worldHashTime +
+                "ms";
+            text += "<br/>Snapshot time: " + infos.snapshotTime + "ms";
+        }
+
+        text += "<br/>timingStep: " + infos.timingStep + "ms";
+        text +=
+            "<br/>timingCollisionDetection: " +
+            infos.timingCollisionDetection +
+            "ms";
+        text += "<br/>timingBroadPhase: " + infos.timingBroadPhase + "ms";
+        text += "<br/>timingNarrowPhase: " + infos.timingNarrowPhase + "ms";
+        text += "<br/>timingSolver: " + infos.timingSolver + "ms";
+        text +=
+            "<br/>timingVelocityAssembly: " +
+            infos.timingVelocityAssembly +
+            "ms";
+        text +=
+            "<br/>timingVelocityResolution: " +
+            infos.timingVelocityResolution +
+            "ms";
+        text +=
+            "<br/>timingVelocityUpdate: " + infos.timingVelocityUpdate + "ms";
+        text +=
+            "<br/>timingVelocityWriteback: " +
+            infos.timingVelocityWriteback +
+            "ms";
+        text += "<br/>timingCcd: " + infos.timingCcd + "ms";
+        text +=
+            "<br/>timingCcdToiComputation: " +
+            infos.timingCcdToiComputation +
+            "ms";
+        text += "<br/>timingCcdBroadPhase: " + infos.timingCcdBroadPhase + "ms";
+        text +=
+            "<br/>timingCcdNarrowPhase: " + infos.timingCcdNarrowPhase + "ms";
+        text += "<br/>timingCcdSolver: " + infos.timingCcdSolver + "ms";
+        text +=
+            "<br/>timingIslandConstruction: " +
+            infos.timingIslandConstruction +
+            "ms";
+        text += "<br/>timingUserChanges: " + infos.timingUserChanges + "ms";
+        this.debugText.innerHTML = text;
+    }
+
+    setTiming(timing: number) {
+        if (!!timing) {
+            this.maxTimePanelValue = Math.max(this.maxTimePanelValue, timing);
+            this.stepTimePanel.update(timing, this.maxTimePanelValue);
+        }
+    }
+
+    resetTiming() {
+        this.maxTimePanelValue = 1.0;
+        this.stepTimePanel.update(0.0, 16.0);
+    }
+}
diff --git a/thirdparty/rapier.js/testbed3d/src/Testbed.ts b/thirdparty/rapier.js/testbed3d/src/Testbed.ts
new file mode 100644
index 00000000..5d3afd88
--- /dev/null
+++ b/thirdparty/rapier.js/testbed3d/src/Testbed.ts
@@ -0,0 +1,211 @@
+import {Graphics} from "./Graphics";
+import {Gui} from "./Gui";
+import type {DebugInfos} from "./Gui";
+import {xxhash128} from "hash-wasm";
+import type * as RAPIER from "@dimforge/rapier3d";
+
+type RAPIER_API = typeof import("@dimforge/rapier3d");
+
+type Builders = Map<string, (RAPIER: RAPIER_API, testbed: Testbed) => void>;
+
+class SimulationParameters {
+    backend: string;
+    prevBackend: string;
+    demo: string;
+    numSolverIters: number;
+    running: boolean;
+    stepping: boolean;
+    debugInfos: boolean;
+    debugRender: boolean;
+    step: () => void;
+    restart: () => void;
+    takeSnapshot: () => void;
+    restoreSnapshot: () => void;
+    backends: Array<string>;
+    builders: Builders;
+
+    constructor(backends: Array<string>, builders: Builders) {
+        this.backend = "rapier";
+        this.prevBackend = "rapier";
+        this.demo = "collision groups";
+        this.numSolverIters = 4;
+        this.running = true;
+        this.stepping = false;
+        this.debugRender = false;
+        this.step = () => {};
+        this.restart = () => {};
+        this.takeSnapshot = () => {};
+        this.restoreSnapshot = () => {};
+        this.backends = backends;
+        this.builders = builders;
+        this.debugInfos = false;
+    }
+}
+
+export class Testbed {
+    RAPIER: RAPIER_API;
+    gui: Gui;
+    graphics: Graphics;
+    inhibitLookAt: boolean;
+    parameters: SimulationParameters;
+    demoToken: number;
+    mouse: {x: number; y: number};
+    events: RAPIER.EventQueue;
+    world: RAPIER.World;
+    preTimestepAction?: (gfx: Graphics) => void;
+    stepId: number;
+    prevDemo: string;
+    lastMessageTime: number;
+    snap: Uint8Array;
+    snapStepId: number;
+
+    constructor(RAPIER: RAPIER_API, builders: Builders) {
+        let backends = ["rapier"];
+        this.RAPIER = RAPIER;
+        let parameters = new SimulationParameters(backends, builders);
+        this.gui = new Gui(this, parameters);
+        this.graphics = new Graphics();
+        this.inhibitLookAt = false;
+        this.parameters = parameters;
+        this.demoToken = 0;
+        this.mouse = {x: 0, y: 0};
+        this.events = new RAPIER.EventQueue(true);
+
+        this.switchToDemo(builders.keys().next().value);
+
+        window.addEventListener("mousemove", (event) => {
+            this.mouse.x = (event.clientX / window.innerWidth) * 2 - 1;
+            this.mouse.y = 1 - (event.clientY / window.innerHeight) * 2;
+        });
+    }
+
+    setpreTimestepAction(action: (gfx: Graphics) => void) {
+        this.preTimestepAction = action;
+    }
+
+    setWorld(world: RAPIER.World) {
+        document.onkeydown = null; // Reset key events.
+        document.onkeyup = null; // Reset key events.
+
+        this.preTimestepAction = null;
+        this.world = world;
+        this.world.numSolverIterations = this.parameters.numSolverIters;
+        this.demoToken += 1;
+        this.stepId = 0;
+        this.gui.resetTiming();
+
+        world.forEachCollider((coll) => {
+            this.graphics.addCollider(this.RAPIER, world, coll);
+        });
+
+        this.lastMessageTime = new Date().getTime();
+    }
+
+    lookAt(pos: Parameters<Graphics["lookAt"]>[0]) {
+        if (!this.inhibitLookAt) {
+            this.graphics.lookAt(pos);
+        }
+
+        this.inhibitLookAt = false;
+    }
+
+    switchToDemo(demo: string) {
+        if (demo == this.prevDemo) {
+            this.inhibitLookAt = true;
+        }
+
+        this.prevDemo = demo;
+        this.graphics.reset();
+
+        this.parameters.prevBackend = this.parameters.backend;
+        this.parameters.builders.get(demo)(this.RAPIER, this);
+    }
+
+    switchToBackend(backend: string) {
+        this.switchToDemo(this.parameters.demo);
+    }
+
+    takeSnapshot() {
+        this.snap = this.world.takeSnapshot();
+        this.snapStepId = this.stepId;
+    }
+
+    restoreSnapshot() {
+        if (!!this.snap) {
+            this.world.free();
+            this.world = this.RAPIER.World.restoreSnapshot(this.snap);
+            this.stepId = this.snapStepId;
+        }
+    }
+
+    run() {
+        if (this.parameters.running || this.parameters.stepping) {
+            this.world.numSolverIterations = this.parameters.numSolverIters;
+
+            if (!!this.preTimestepAction) {
+                this.preTimestepAction(this.graphics);
+            }
+
+            let t0 = new Date().getTime();
+            this.world.step(this.events);
+            this.gui.setTiming(new Date().getTime() - t0);
+            this.stepId += 1;
+
+            if (!!this.parameters.debugInfos) {
+                let t0 = performance.now();
+                let snapshot = this.world.takeSnapshot();
+                let t1 = performance.now();
+                let snapshotTime = t1 - t0;
+
+                let debugInfos: DebugInfos = {
+                    token: this.demoToken,
+                    stepId: this.stepId,
+                    worldHash: "",
+                    worldHashTime: 0,
+                    snapshotTime: 0,
+                    timingStep: this.world.timingStep(),
+                    timingCollisionDetection:
+                        this.world.timingCollisionDetection(),
+                    timingBroadPhase: this.world.timingBroadPhase(),
+                    timingNarrowPhase: this.world.timingNarrowPhase(),
+                    timingSolver: this.world.timingSolver(),
+                    timingVelocityAssembly: this.world.timingVelocityAssembly(),
+                    timingVelocityResolution:
+                        this.world.timingVelocityResolution(),
+                    timingVelocityUpdate: this.world.timingVelocityUpdate(),
+                    timingVelocityWriteback:
+                        this.world.timingVelocityWriteback(),
+                    timingCcd: this.world.timingCcd(),
+                    timingCcdToiComputation:
+                        this.world.timingCcdToiComputation(),
+                    timingCcdBroadPhase: this.world.timingCcdBroadPhase(),
+                    timingCcdNarrowPhase: this.world.timingCcdNarrowPhase(),
+                    timingCcdSolver: this.world.timingCcdSolver(),
+                    timingIslandConstruction:
+                        this.world.timingIslandConstruction(),
+                    timingUserChanges: this.world.timingUserChanges(),
+                };
+                t0 = performance.now();
+                xxhash128(snapshot).then((hash) => {
+                    debugInfos.worldHash = hash;
+                    t1 = performance.now();
+                    let worldHashTime = t1 - t0;
+                    debugInfos.worldHashTime = worldHashTime;
+                    debugInfos.snapshotTime = snapshotTime;
+                    this.gui.setDebugInfos(debugInfos);
+                });
+            }
+        }
+
+        if (this.parameters.stepping) {
+            this.parameters.running = false;
+            this.parameters.stepping = false;
+        }
+
+        this.gui.stats.begin();
+        this.graphics.render(this.world, this.parameters.debugRender);
+        this.gui.stats.end();
+
+        requestAnimationFrame(() => this.run());
+    }
+}
diff --git a/thirdparty/rapier.js/testbed3d/src/demos/ccd.ts b/thirdparty/rapier.js/testbed3d/src/demos/ccd.ts
new file mode 100644
index 00000000..823c9013
--- /dev/null
+++ b/thirdparty/rapier.js/testbed3d/src/demos/ccd.ts
@@ -0,0 +1,75 @@
+import type RAPIER from "@dimforge/rapier3d";
+import type {Testbed} from "../Testbed";
+
+type RAPIER_API = typeof import("@dimforge/rapier3d");
+
+function createWall(
+    RAPIER: RAPIER_API,
+    testbed: Testbed,
+    world: RAPIER.World,
+    offset: {x: number; y: number; z: number},
+    stackHeight: number,
+) {
+    let i, j;
+
+    let shiftY = 1.0;
+    let shiftZ = 2.0;
+
+    for (i = 0; i < stackHeight; ++i) {
+        for (j = i; j < stackHeight; ++j) {
+            let x = offset.x;
+            let y = i * shiftY + offset.y;
+            let z =
+                (i * shiftZ) / 2.0 + (j - i) * shiftZ + offset.z - stackHeight;
+
+            // Create dynamic cube.
+            let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(
+                x,
+                y,
+                z,
+            );
+            let body = world.createRigidBody(bodyDesc);
+            let colliderDesc = RAPIER.ColliderDesc.cuboid(0.5, 0.5, 1.0);
+            world.createCollider(colliderDesc, body);
+        }
+    }
+}
+
+export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
+    let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0);
+    let world = new RAPIER.World(gravity);
+
+    // Create Ground.
+    let groundHeight = 0.1;
+    let bodyDesc = RAPIER.RigidBodyDesc.fixed();
+    let body = world.createRigidBody(bodyDesc);
+    let colliderDesc = RAPIER.ColliderDesc.cuboid(30.0, 0.1, 30.0);
+    world.createCollider(colliderDesc, body);
+
+    let numX = 5;
+    let numZ = 8;
+    let shiftY = groundHeight + 0.5;
+
+    let i;
+    for (i = 0; i < numX; ++i) {
+        let x = i * 6.0;
+        createWall(RAPIER, testbed, world, {x: x, y: shiftY, z: 0.0}, numZ);
+    }
+
+    // A very fast rigid-body with CCD enabled.
+    // Create dynamic cube.
+    bodyDesc = RAPIER.RigidBodyDesc.dynamic()
+        .setTranslation(-20.0, shiftY + 2.0, 0.0)
+        .setLinvel(1000.0, 0.0, 0.0)
+        .setCcdEnabled(true);
+    body = world.createRigidBody(bodyDesc);
+    colliderDesc = RAPIER.ColliderDesc.ball(1.0).setDensity(10.0);
+    world.createCollider(colliderDesc, body);
+
+    testbed.setWorld(world);
+    let cameraPosition = {
+        eye: {x: -31.96000000000001, y: 19.730000000000008, z: -27.86},
+        target: {x: -0.0505, y: -0.4126, z: -0.0229},
+    };
+    testbed.lookAt(cameraPosition);
+}
diff --git a/thirdparty/rapier.js/testbed3d/src/demos/characterController.ts b/thirdparty/rapier.js/testbed3d/src/demos/characterController.ts
new file mode 100644
index 00000000..2406ebcc
--- /dev/null
+++ b/thirdparty/rapier.js/testbed3d/src/demos/characterController.ts
@@ -0,0 +1,106 @@
+import type {Testbed} from "../Testbed";
+
+type RAPIER_API = typeof import("@dimforge/rapier3d");
+
+export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
+    let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0);
+    let world = new RAPIER.World(gravity);
+
+    // Create Ground.
+    let bodyDesc = RAPIER.RigidBodyDesc.fixed();
+    let body = world.createRigidBody(bodyDesc);
+    let colliderDesc = RAPIER.ColliderDesc.cuboid(15.0, 0.1, 15.0);
+    world.createCollider(colliderDesc, body);
+
+    // Dynamic cubes.
+    let rad = 0.5;
+    let num = 5;
+    let i, j, k;
+    let shift = rad * 2.5;
+    let center = num * rad;
+    let height = 5.0;
+
+    for (i = 0; i < num; ++i) {
+        for (j = i; j < num; ++j) {
+            for (k = i; k < num; ++k) {
+                let x = (i * shift) / 2.0 + (k - i) * shift - center;
+                let y = (i * shift) / 2.0 + height;
+                let z = (i * shift) / 2.0 + (j - i) * shift - center;
+
+                // Create dynamic cube.
+                let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(
+                    x,
+                    y,
+                    z,
+                );
+                let body = world.createRigidBody(bodyDesc);
+                let colliderDesc = RAPIER.ColliderDesc.cuboid(
+                    rad,
+                    rad / 2.0,
+                    rad,
+                );
+                world.createCollider(colliderDesc, body);
+            }
+        }
+    }
+
+    // Character.
+    let characterDesc =
+        RAPIER.RigidBodyDesc.kinematicPositionBased().setTranslation(
+            -10.0,
+            4.0,
+            -10.0,
+        );
+    let character = world.createRigidBody(characterDesc);
+    let characterColliderDesc = RAPIER.ColliderDesc.cylinder(1.2, 0.6);
+    let characterCollider = world.createCollider(
+        characterColliderDesc,
+        character,
+    );
+
+    let characterController = world.createCharacterController(0.1);
+    characterController.enableAutostep(0.7, 0.3, true);
+    characterController.enableSnapToGround(0.7);
+
+    let speed = 0.2;
+    let movementDirection = {x: 0.0, y: -speed, z: 0.0};
+
+    let updateCharacter = () => {
+        characterController.computeColliderMovement(
+            characterCollider,
+            movementDirection,
+        );
+
+        let movement = characterController.computedMovement();
+        let newPos = character.translation();
+        newPos.x += movement.x;
+        newPos.y += movement.y;
+        newPos.z += movement.z;
+        character.setNextKinematicTranslation(newPos);
+    };
+
+    testbed.setWorld(world);
+    testbed.setpreTimestepAction(updateCharacter);
+
+    document.onkeydown = function (event: KeyboardEvent) {
+        if (event.key == "ArrowUp") movementDirection.x = speed;
+        if (event.key == "ArrowDown") movementDirection.x = -speed;
+        if (event.key == "ArrowLeft") movementDirection.z = -speed;
+        if (event.key == "ArrowRight") movementDirection.z = speed;
+        if (event.key == " ") movementDirection.y = speed;
+    };
+
+    document.onkeyup = function (event: KeyboardEvent) {
+        if (event.key == "ArrowUp") movementDirection.x = 0.0;
+        if (event.key == "ArrowDown") movementDirection.x = 0.0;
+        if (event.key == "ArrowLeft") movementDirection.z = 0.0;
+        if (event.key == "ArrowRight") movementDirection.z = 0.0;
+        if (event.key == " ") movementDirection.y = -speed; // Gravity
+    };
+
+    let cameraPosition = {
+        eye: {x: -40.0, y: 19.730000000000008, z: 0.0},
+        target: {x: 0.0, y: -0.4126, z: 0.0},
+    };
+    testbed.lookAt(cameraPosition);
+}
diff --git a/thirdparty/rapier.js/testbed3d/src/demos/collisionGroups.ts b/thirdparty/rapier.js/testbed3d/src/demos/collisionGroups.ts
new file mode 100644
index 00000000..49c9ddb7
--- /dev/null
+++ b/thirdparty/rapier.js/testbed3d/src/demos/collisionGroups.ts
@@ -0,0 +1,73 @@
+import type {Testbed} from "../Testbed";
+
+type RAPIER_API = typeof import("@dimforge/rapier3d");
+
+export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
+    let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0);
+    let world = new RAPIER.World(gravity);
+
+    // Create Ground.
+    let bodyDesc = RAPIER.RigidBodyDesc.fixed();
+    let groundBody = world.createRigidBody(bodyDesc);
+    let colliderDesc = RAPIER.ColliderDesc.cuboid(5.0, 0.1, 5.0);
+    world.createCollider(colliderDesc, groundBody);
+
+    // Setup groups.
+    let group1 = 0x00010001;
+    let group2 = 0x00020002;
+
+    // Add one floor that collides with the first group only.
+    colliderDesc = RAPIER.ColliderDesc.cuboid(1.0, 0.1, 1.0)
+        .setTranslation(0.0, 1.0, 0.0)
+        .setCollisionGroups(group1);
+    world.createCollider(colliderDesc, groundBody);
+
+    // Add one floor that collides with the second group only.
+    colliderDesc = RAPIER.ColliderDesc.cuboid(1.0, 0.1, 1.0)
+        .setTranslation(0.0, 2.0, 0.0)
+        .setCollisionGroups(group2);
+    world.createCollider(colliderDesc, groundBody);
+
+    // Dynamic cubes.
+    let num = 8;
+    let rad = 0.1;
+
+    let shift = rad * 2.0;
+    let centerx = shift * (num / 2);
+    let centery = 2.5;
+    let centerz = shift * (num / 2);
+    let i, j, k;
+
+    for (j = 0; j < 4; j++) {
+        for (i = 0; i < num; i++) {
+            for (k = 0; k < num; k++) {
+                let x = i * shift - centerx;
+                let y = j * shift + centery;
+                let z = k * shift - centerz;
+
+                // Alternate between the green and blue groups.
+                let group = k % 2 == 0 ? group1 : group2;
+                let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(
+                    x,
+                    y,
+                    z,
+                );
+                let body = world.createRigidBody(bodyDesc);
+
+                colliderDesc = RAPIER.ColliderDesc.cuboid(
+                    rad,
+                    rad,
+                    rad,
+                ).setCollisionGroups(group);
+                world.createCollider(colliderDesc, body);
+            }
+        }
+    }
+
+    testbed.setWorld(world);
+    let cameraPosition = {
+        eye: {x: 10.0, y: 5.0, z: 10.0},
+        target: {x: 0.0, y: 0.0, z: 0.0},
+    };
+    testbed.lookAt(cameraPosition);
+}
diff --git a/thirdparty/rapier.js/testbed3d/src/demos/convexPolyhedron.ts b/thirdparty/rapier.js/testbed3d/src/demos/convexPolyhedron.ts
new file mode 100644
index 00000000..0ec4b903
--- /dev/null
+++ b/thirdparty/rapier.js/testbed3d/src/demos/convexPolyhedron.ts
@@ -0,0 +1,111 @@
+import type {Testbed} from "../Testbed";
+import seedrandom from "seedrandom";
+
+type RAPIER_API = typeof import("@dimforge/rapier3d");
+
+function generateTriMesh(nsubdivs: number, wx: number, wy: number, wz: number) {
+    let vertices = [];
+    let indices = [];
+
+    let elementWidth = 1.0 / nsubdivs;
+    let rng = seedrandom("trimesh");
+
+    let i, j;
+    for (i = 0; i <= nsubdivs; ++i) {
+        for (j = 0; j <= nsubdivs; ++j) {
+            let x = (j * elementWidth - 0.5) * wx;
+            let y = rng() * wy;
+            let z = (i * elementWidth - 0.5) * wz;
+
+            vertices.push(x, y, z);
+        }
+    }
+
+    for (i = 0; i < nsubdivs; ++i) {
+        for (j = 0; j < nsubdivs; ++j) {
+            let i1 = (i + 0) * (nsubdivs + 1) + (j + 0);
+            let i2 = (i + 0) * (nsubdivs + 1) + (j + 1);
+            let i3 = (i + 1) * (nsubdivs + 1) + (j + 0);
+            let i4 = (i + 1) * (nsubdivs + 1) + (j + 1);
+
+            indices.push(i1, i3, i2);
+            indices.push(i3, i4, i2);
+        }
+    }
+
+    return {
+        vertices: new Float32Array(vertices),
+        indices: new Uint32Array(indices),
+    };
+}
+
+export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
+    let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0);
+    let world = new RAPIER.World(gravity);
+
+    // Create Ground.
+    let bodyDesc = RAPIER.RigidBodyDesc.fixed();
+    let body = world.createRigidBody(bodyDesc);
+    let trimesh = generateTriMesh(20, 40.0, 4.0, 40.0);
+    let colliderDesc = RAPIER.ColliderDesc.trimesh(
+        trimesh.vertices,
+        trimesh.indices,
+    );
+    world.createCollider(colliderDesc, body);
+
+    /*
+     * Create the polyhedra
+     */
+    let num = 5;
+    let scale = 2.0;
+    let border_rad = 0.1;
+
+    let shift = border_rad * 2.0 + scale;
+    let centerx = shift * (num / 2);
+    let centery = shift / 2.0;
+    let centerz = shift * (num / 2);
+
+    let rng = seedrandom("convexPolyhedron");
+    let i, j, k, l;
+
+    for (j = 0; j < 15; ++j) {
+        for (i = 0; i < num; ++i) {
+            for (k = 0; k < num; ++k) {
+                let x = i * shift - centerx;
+                let y = j * shift + centery + 3.0;
+                let z = k * shift - centerz;
+
+                let vertices = [];
+                for (l = 0; l < 10; ++l) {
+                    vertices.push(rng() * scale, rng() * scale, rng() * scale);
+                }
+                let v = new Float32Array(vertices);
+
+                // Build the rigid body.
+                bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(
+                    x,
+                    y,
+                    z,
+                );
+                body = world.createRigidBody(bodyDesc);
+                colliderDesc = RAPIER.ColliderDesc.roundConvexHull(
+                    v,
+                    border_rad,
+                );
+                world.createCollider(colliderDesc, body);
+            }
+        }
+    }
+
+    testbed.setWorld(world);
+
+    let cameraPosition = {
+        eye: {
+            x: -88.48024008669711,
+            y: 46.911325612198354,
+            z: 83.56055570254844,
+        },
+        target: {x: 0.0, y: 0.0, z: 0.0},
+    };
+    testbed.lookAt(cameraPosition);
+}
diff --git a/thirdparty/rapier.js/testbed3d/src/demos/damping.ts b/thirdparty/rapier.js/testbed3d/src/demos/damping.ts
new file mode 100644
index 00000000..c6295f66
--- /dev/null
+++ b/thirdparty/rapier.js/testbed3d/src/demos/damping.ts
@@ -0,0 +1,42 @@
+import type {Testbed} from "../Testbed";
+
+type RAPIER_API = typeof import("@dimforge/rapier3d");
+
+export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
+    let gravity = new RAPIER.Vector3(0.0, 0.0, 0.0);
+    let world = new RAPIER.World(gravity);
+
+    /*
+     * Create the cubes
+     */
+    let num = 10;
+    let rad = 0.2;
+
+    let subdiv = 1.0 / num;
+
+    let i;
+    for (i = 0; i < num; ++i) {
+        let x = Math.sin(i * subdiv * Math.PI * 2.0);
+        let y = Math.cos(i * subdiv * Math.PI * 2.0);
+
+        // Build the rigid body.
+        let bodyDesc = RAPIER.RigidBodyDesc.dynamic()
+            .setTranslation(x, y, 0.0)
+            .setLinvel(x * 10.0, y * 10.0, 0.0)
+            .setAngvel(new RAPIER.Vector3(0.0, 0.0, 100.0))
+            .setLinearDamping((i + 1) * subdiv * 10.0)
+            .setAngularDamping((num - i) * subdiv * 10.0);
+        let body = world.createRigidBody(bodyDesc);
+
+        // Build the collider.
+        let colliderDesc = RAPIER.ColliderDesc.cuboid(rad, rad, rad);
+        world.createCollider(colliderDesc, body);
+    }
+
+    testbed.setWorld(world);
+    let cameraPosition = {
+        eye: {x: 0, y: 2.0, z: 20},
+        target: {x: 0, y: 2.0, z: 0},
+    };
+    testbed.lookAt(cameraPosition);
+}
diff --git a/thirdparty/rapier.js/testbed3d/src/demos/fountain.ts b/thirdparty/rapier.js/testbed3d/src/demos/fountain.ts
new file mode 100644
index 00000000..00d8dced
--- /dev/null
+++ b/thirdparty/rapier.js/testbed3d/src/demos/fountain.ts
@@ -0,0 +1,78 @@
+import type {Testbed} from "../Testbed";
+
+type RAPIER_API = typeof import("@dimforge/rapier3d");
+
+export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
+    let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0);
+    let world = new RAPIER.World(gravity);
+    let removableBodies = new Array();
+
+    // Create Ground.
+    let groundBodyDesc = RAPIER.RigidBodyDesc.fixed();
+    let groundBody = world.createRigidBody(groundBodyDesc);
+    let groundColliderDesc = RAPIER.ColliderDesc.cuboid(40.0, 0.1, 40.0);
+    world.createCollider(groundColliderDesc, groundBody);
+
+    // Dynamic cubes.
+    let rad = 1.0;
+    let j = 0;
+    let spawn_interval = 5;
+
+    let spawnBodies = (graphics: Testbed["graphics"]) => {
+        j += 1;
+        if (j % spawn_interval != 0) {
+            return;
+        }
+
+        let bodyDesc = RAPIER.RigidBodyDesc.dynamic()
+            .setLinvel(0.0, 15.0, 0.0)
+            .setTranslation(0.0, 10.0, 0.0);
+        let colliderDesc;
+
+        switch ((j / spawn_interval) % 4) {
+            case 0:
+                colliderDesc = RAPIER.ColliderDesc.cuboid(rad, rad, rad);
+                break;
+            case 1:
+                colliderDesc = RAPIER.ColliderDesc.ball(rad);
+                break;
+            case 2:
+                colliderDesc = RAPIER.ColliderDesc.roundCylinder(
+                    rad,
+                    rad,
+                    rad / 10.0,
+                );
+                break;
+            case 3:
+                colliderDesc = RAPIER.ColliderDesc.cone(rad, rad);
+                break;
+        }
+
+        let body = world.createRigidBody(bodyDesc);
+        let collider = world.createCollider(colliderDesc, body);
+        graphics.addCollider(RAPIER, world, collider);
+
+        removableBodies.push(body);
+
+        // We reached the max number, delete the oldest rigid-body.
+        if (removableBodies.length > 400) {
+            let rb = removableBodies[0];
+            world.removeRigidBody(rb);
+            graphics.removeRigidBody(rb);
+            removableBodies.shift();
+        }
+    };
+
+    testbed.setWorld(world);
+    testbed.setpreTimestepAction(spawnBodies);
+
+    let cameraPosition = {
+        eye: {
+            x: -88.48024008669711,
+            y: 46.911325612198354,
+            z: 83.56055570254844,
+        },
+        target: {x: 0.0, y: 10.0, z: 0.0},
+    };
+    testbed.lookAt(cameraPosition);
+}
diff --git a/thirdparty/rapier.js/testbed3d/src/demos/glbToTrimesh.ts b/thirdparty/rapier.js/testbed3d/src/demos/glbToTrimesh.ts
new file mode 100644
index 00000000..fa65a7cd
--- /dev/null
+++ b/thirdparty/rapier.js/testbed3d/src/demos/glbToTrimesh.ts
@@ -0,0 +1,68 @@
+import type {Testbed} from "../Testbed";
+import {Vector3, Object3D, Mesh, BufferGeometry, BufferAttribute} from "three";
+import {GLTFLoader} from "three/examples/jsm/loaders/GLTFLoader";
+type RAPIER_API = typeof import("@dimforge/rapier3d");
+
+export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
+    let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0);
+    let world = new RAPIER.World(gravity);
+
+    testbed.parameters.debugRender = true;
+
+    // Create Ground.
+    let bodyDesc = RAPIER.RigidBodyDesc.fixed();
+    let groundBody = world.createRigidBody(bodyDesc);
+    let colliderDesc = RAPIER.ColliderDesc.cuboid(5.0, 0.1, 5.0);
+    world.createCollider(colliderDesc, groundBody);
+
+    // Adding the 3d model
+
+    let loader = new GLTFLoader();
+
+    loader.load("./suzanne_blender_monkey.glb", (gltf) => {
+        gltf.scene.position.set(0, 1.2, 0);
+        gltf.scene.scale.set(3, 3, 3);
+        testbed.graphics.scene.add(gltf.scene);
+        gltf.scene.updateMatrixWorld(true); // ensure world matrix is up to date
+        gltf.scene.traverse((child: Object3D) => {
+            if ((child as Mesh).isMesh && (child as Mesh).geometry) {
+                const mesh = child as Mesh;
+                const geometry = mesh.geometry as BufferGeometry;
+
+                const vertices: number[] = [];
+                const indices = new Uint32Array(geometry.index!.array); // assume index is non-null
+                const positionAttribute = geometry.getAttribute(
+                    "position",
+                ) as BufferAttribute;
+
+                mesh.updateWorldMatrix(true, true);
+
+                const v = new Vector3();
+
+                for (let i = 0, l = positionAttribute.count; i < l; i++) {
+                    v.fromBufferAttribute(positionAttribute, i);
+                    v.applyMatrix4(mesh.matrixWorld);
+                    vertices.push(v.x, v.y, v.z);
+                }
+
+                const verticesArray = new Float32Array(vertices);
+
+                const rigidBodyDesc = RAPIER.RigidBodyDesc.fixed();
+                const rigidBody = world.createRigidBody(rigidBodyDesc);
+
+                const colliderDesc = RAPIER.ColliderDesc.trimesh(
+                    verticesArray,
+                    indices,
+                );
+                world.createCollider(colliderDesc, rigidBody);
+            }
+        });
+    });
+
+    testbed.setWorld(world);
+    let cameraPosition = {
+        eye: {x: 10.0, y: 5.0, z: 10.0},
+        target: {x: 0.0, y: 0.0, z: 0.0},
+    };
+    testbed.lookAt(cameraPosition);
+}
diff --git a/thirdparty/rapier.js/testbed3d/src/demos/glbtoConvexHull.ts b/thirdparty/rapier.js/testbed3d/src/demos/glbtoConvexHull.ts
new file mode 100644
index 00000000..a4d2619e
--- /dev/null
+++ b/thirdparty/rapier.js/testbed3d/src/demos/glbtoConvexHull.ts
@@ -0,0 +1,68 @@
+import type {Testbed} from "../Testbed";
+import {
+    Vector3,
+    Object3D,
+    Mesh,
+    BufferGeometry,
+    BufferAttribute,
+    TriangleStripDrawMode,
+} from "three";
+import {GLTFLoader} from "three/examples/jsm/loaders/GLTFLoader";
+type RAPIER_API = typeof import("@dimforge/rapier3d");
+
+export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
+    let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0);
+    let world = new RAPIER.World(gravity);
+
+    // Create Ground.
+    let bodyDesc = RAPIER.RigidBodyDesc.fixed();
+    let groundBody = world.createRigidBody(bodyDesc);
+    let colliderDesc = RAPIER.ColliderDesc.cuboid(5.0, 0.1, 5.0);
+    world.createCollider(colliderDesc, groundBody);
+
+    // Adding the 3d model
+
+    let loader = new GLTFLoader();
+
+    loader.load("./suzanne_blender_monkey.glb", (gltf) => {
+        gltf.scene.position.set(0, 1.2, 0);
+        gltf.scene.scale.set(3, 3, 3);
+        testbed.graphics.scene.add(gltf.scene);
+        testbed.parameters.debugRender = true;
+        gltf.scene.updateMatrixWorld(true); // ensure world matrix is up to date
+
+        const v = new Vector3();
+        const positions: number[] = [];
+
+        gltf.scene.traverse((child: Object3D) => {
+            if ((child as Mesh).isMesh && (child as Mesh).geometry) {
+                const mesh = child as Mesh;
+                const geometry = mesh.geometry as BufferGeometry;
+                const positionAttribute = geometry.getAttribute(
+                    "position",
+                ) as BufferAttribute;
+
+                for (let i = 0, l = positionAttribute.count; i < l; i++) {
+                    v.fromBufferAttribute(positionAttribute, i);
+                    v.applyMatrix4(mesh.matrixWorld);
+                    positions.push(v.x, v.y, v.z);
+                }
+            }
+        });
+
+        const rigidBodyDesc = RAPIER.RigidBodyDesc.fixed();
+        const rigidBody = world.createRigidBody(rigidBodyDesc);
+
+        const colliderDesc = RAPIER.ColliderDesc.convexHull(
+            new Float32Array(positions),
+        );
+        world.createCollider(colliderDesc, rigidBody);
+    });
+
+    testbed.setWorld(world);
+    let cameraPosition = {
+        eye: {x: 10.0, y: 5.0, z: 10.0},
+        target: {x: 0.0, y: 0.0, z: 0.0},
+    };
+    testbed.lookAt(cameraPosition);
+}
diff --git a/thirdparty/rapier.js/testbed3d/src/demos/heightfield.ts b/thirdparty/rapier.js/testbed3d/src/demos/heightfield.ts
new file mode 100644
index 00000000..5a2feece
--- /dev/null
+++ b/thirdparty/rapier.js/testbed3d/src/demos/heightfield.ts
@@ -0,0 +1,126 @@
+import seedrandom from "seedrandom";
+import type {Testbed} from "../Testbed";
+
+type RAPIER_API = typeof import("@dimforge/rapier3d");
+
+function generateHeightfield(nsubdivs: number) {
+    let heights = [];
+
+    let rng = seedrandom("heightfield");
+
+    let i, j;
+    for (i = 0; i <= nsubdivs; ++i) {
+        for (j = 0; j <= nsubdivs; ++j) {
+            heights.push(rng());
+        }
+    }
+
+    return new Float32Array(heights);
+}
+
+export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
+    let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0);
+    let world = new RAPIER.World(gravity);
+
+    // Create Ground.
+    let nsubdivs = 20;
+    let scale = new RAPIER.Vector3(70.0, 4.0, 70.0);
+    let bodyDesc = RAPIER.RigidBodyDesc.fixed();
+    let body = world.createRigidBody(bodyDesc);
+    let heights = generateHeightfield(nsubdivs);
+    let colliderDesc = RAPIER.ColliderDesc.heightfield(
+        nsubdivs,
+        nsubdivs,
+        heights,
+        scale,
+    );
+    world.createCollider(colliderDesc, body);
+
+    // Dynamic cubes.
+    let num = 4;
+    let numy = 10;
+    let rad = 1.0;
+
+    let shift = rad * 2.0 + rad;
+    let centery = shift / 2.0;
+
+    let offset = -num * (rad * 2.0 + rad) * 0.5;
+    let i, j, k;
+
+    for (j = 0; j < numy; ++j) {
+        for (i = 0; i < num; ++i) {
+            for (k = 0; k < num; ++k) {
+                let x = i * shift + offset;
+                let y = j * shift + centery + 3.0;
+                let z = k * shift + offset;
+
+                // Create dynamic cube.
+                let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(
+                    x,
+                    y,
+                    z,
+                );
+                let body = world.createRigidBody(bodyDesc);
+                let colliderDesc;
+
+                switch (j % 5) {
+                    case 0:
+                        colliderDesc = RAPIER.ColliderDesc.cuboid(
+                            rad,
+                            rad,
+                            rad,
+                        );
+                        break;
+                    case 1:
+                        colliderDesc = RAPIER.ColliderDesc.ball(rad);
+                        break;
+                    case 2:
+                        colliderDesc = RAPIER.ColliderDesc.roundCylinder(
+                            rad,
+                            rad,
+                            rad / 10.0,
+                        );
+                        break;
+                    case 3:
+                        colliderDesc = RAPIER.ColliderDesc.cone(rad, rad);
+                        break;
+                    case 4:
+                        colliderDesc = RAPIER.ColliderDesc.cuboid(
+                            rad / 2.0,
+                            rad / 2.0,
+                            rad / 2.0,
+                        );
+                        world.createCollider(colliderDesc, body);
+                        colliderDesc = RAPIER.ColliderDesc.cuboid(
+                            rad / 2.0,
+                            rad,
+                            rad / 2.0,
+                        ).setTranslation(rad, 0.0, 0.0);
+                        world.createCollider(colliderDesc, body);
+                        colliderDesc = RAPIER.ColliderDesc.cuboid(
+                            rad / 2.0,
+                            rad,
+                            rad / 2.0,
+                        ).setTranslation(-rad, 0.0, 0.0);
+                        break;
+                }
+
+                world.createCollider(colliderDesc, body);
+            }
+        }
+
+        offset -= 0.05 * rad * (num - 1.0);
+    }
+
+    testbed.setWorld(world);
+
+    let cameraPosition = {
+        eye: {
+            x: -88.48024008669711,
+            y: 46.911325612198354,
+            z: 83.56055570254844,
+        },
+        target: {x: 0.0, y: 0.0, z: 0.0},
+    };
+    testbed.lookAt(cameraPosition);
+}
diff --git a/thirdparty/rapier.js/testbed3d/src/demos/joints.ts b/thirdparty/rapier.js/testbed3d/src/demos/joints.ts
new file mode 100644
index 00000000..56546d7f
--- /dev/null
+++ b/thirdparty/rapier.js/testbed3d/src/demos/joints.ts
@@ -0,0 +1,292 @@
+import type RAPIER from "@dimforge/rapier3d";
+import type {Testbed} from "../Testbed";
+
+type RAPIER_API = typeof import("@dimforge/rapier3d");
+
+function createPrismaticJoints(
+    RAPIER: RAPIER_API,
+    world: RAPIER.World,
+    origin: RAPIER.Vector,
+    num: number,
+) {
+    let rad = 0.4;
+    let shift = 1.0;
+
+    let groundDesc = RAPIER.RigidBodyDesc.fixed().setTranslation(
+        origin.x,
+        origin.y,
+        origin.z,
+    );
+    let currParent = world.createRigidBody(groundDesc);
+    let colliderDesc = RAPIER.ColliderDesc.cuboid(rad, rad, rad);
+    world.createCollider(colliderDesc, currParent);
+
+    let i;
+    let z;
+
+    for (i = 0; i < num; ++i) {
+        z = origin.z + (i + 1) * shift;
+        let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(
+            origin.x,
+            origin.y,
+            z,
+        );
+        let currChild = world.createRigidBody(rigidBodyDesc);
+        let colliderDesc = RAPIER.ColliderDesc.cuboid(rad, rad, rad);
+        world.createCollider(colliderDesc, currChild);
+
+        let axis;
+
+        if (i % 2 == 0) {
+            axis = new RAPIER.Vector3(1.0, 1.0, 0.0);
+        } else {
+            axis = new RAPIER.Vector3(-1.0, 1.0, 0.0);
+        }
+
+        z = new RAPIER.Vector3(0.0, 0.0, 1.0);
+        let prism = RAPIER.JointData.prismatic(
+            new RAPIER.Vector3(0.0, 0.0, 0.0),
+            new RAPIER.Vector3(0.0, 0.0, -shift),
+            axis,
+        );
+        prism.limitsEnabled = true;
+        prism.limits = [-2.0, 2.0];
+        world.createImpulseJoint(prism, currParent, currChild, true);
+
+        currParent = currChild;
+    }
+}
+
+function createRevoluteJoints(
+    RAPIER: RAPIER_API,
+    world: RAPIER.World,
+    origin: RAPIER.Vector3,
+    num: number,
+) {
+    let rad = 0.4;
+    let shift = 2.0;
+
+    let groundDesc = RAPIER.RigidBodyDesc.fixed().setTranslation(
+        origin.x,
+        origin.y,
+        0.0,
+    );
+    let currParent = world.createRigidBody(groundDesc);
+    let colliderDesc = RAPIER.ColliderDesc.cuboid(rad, rad, rad);
+    world.createCollider(colliderDesc, currParent);
+
+    let i, k;
+    let z;
+
+    for (i = 0; i < num; ++i) {
+        // Create four bodies.
+        z = origin.z + i * shift * 2.0 + shift;
+
+        let positions = [
+            new RAPIER.Vector3(origin.x, origin.y, z),
+            new RAPIER.Vector3(origin.x + shift, origin.y, z),
+            new RAPIER.Vector3(origin.x + shift, origin.y, z + shift),
+            new RAPIER.Vector3(origin.x, origin.y, z + shift),
+        ];
+
+        let parents = [currParent, currParent, currParent, currParent];
+
+        for (k = 0; k < 4; ++k) {
+            let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(
+                positions[k].x,
+                positions[k].y,
+                positions[k].z,
+            );
+            let rigidBody = world.createRigidBody(rigidBodyDesc);
+            let colliderDesc = RAPIER.ColliderDesc.cuboid(rad, rad, rad);
+            world.createCollider(colliderDesc, rigidBody);
+
+            parents[k] = rigidBody;
+        }
+
+        // Setup four joints.
+        let o = new RAPIER.Vector3(0.0, 0.0, 0.0);
+        let x = new RAPIER.Vector3(1.0, 0.0, 0.0);
+        z = new RAPIER.Vector3(0.0, 0.0, 1.0);
+
+        let revs = [
+            RAPIER.JointData.revolute(
+                o,
+                new RAPIER.Vector3(0.0, 0.0, -shift),
+                z,
+            ),
+            RAPIER.JointData.revolute(
+                o,
+                new RAPIER.Vector3(-shift, 0.0, 0.0),
+                x,
+            ),
+            RAPIER.JointData.revolute(
+                o,
+                new RAPIER.Vector3(0.0, 0.0, -shift),
+                z,
+            ),
+            RAPIER.JointData.revolute(
+                o,
+                new RAPIER.Vector3(shift, 0.0, 0.0),
+                x,
+            ),
+        ];
+
+        world.createImpulseJoint(revs[0], currParent, parents[0], true);
+        world.createImpulseJoint(revs[1], parents[0], parents[1], true);
+        world.createImpulseJoint(revs[2], parents[1], parents[2], true);
+        world.createImpulseJoint(revs[3], parents[2], parents[3], true);
+
+        currParent = parents[3];
+    }
+}
+
+function createFixedJoints(
+    RAPIER: RAPIER_API,
+    world: RAPIER.World,
+    origin: RAPIER.Vector3,
+    num: number,
+) {
+    let rad = 0.4;
+    let shift = 1.0;
+    let i, k;
+    let parents = [];
+
+    for (k = 0; k < num; ++k) {
+        for (i = 0; i < num; ++i) {
+            let fk = k;
+            let fi = i;
+
+            // NOTE: the num - 2 test is to avoid two consecutive
+            // fixed bodies. Because physx will crash if we add
+            // a joint between these.
+            let bodyType;
+
+            if (i == 0 && ((k % 4 == 0 && k != num - 2) || k == num - 1)) {
+                bodyType = RAPIER.RigidBodyType.Fixed;
+            } else {
+                bodyType = RAPIER.RigidBodyType.Dynamic;
+            }
+
+            let rigidBody = new RAPIER.RigidBodyDesc(bodyType).setTranslation(
+                origin.x + fk * shift,
+                origin.y,
+                origin.z + fi * shift,
+            );
+            let child = world.createRigidBody(rigidBody);
+            let colliderDesc = RAPIER.ColliderDesc.ball(rad);
+            world.createCollider(colliderDesc, child);
+
+            // Vertical joint.
+            if (i > 0) {
+                let parent = parents[parents.length - 1];
+                let params = RAPIER.JointData.fixed(
+                    new RAPIER.Vector3(0.0, 0.0, 0.0),
+                    new RAPIER.Quaternion(0.0, 0.0, 0.0, 1.0),
+                    new RAPIER.Vector3(0.0, 0.0, -shift),
+                    new RAPIER.Quaternion(0.0, 0.0, 0.0, 1.0),
+                );
+
+                world.createImpulseJoint(params, parent, child, true);
+            }
+
+            // Horizontal joint.
+            if (k > 0) {
+                let parent_index = parents.length - num;
+                let parent = parents[parent_index];
+                let params = RAPIER.JointData.fixed(
+                    new RAPIER.Vector3(0.0, 0.0, 0.0),
+                    new RAPIER.Quaternion(0.0, 0.0, 0.0, 1.0),
+                    new RAPIER.Vector3(-shift, 0.0, 0.0),
+                    new RAPIER.Quaternion(0.0, 0.0, 0.0, 1.0),
+                );
+
+                world.createImpulseJoint(params, parent, child, true);
+            }
+
+            parents.push(child);
+        }
+    }
+}
+
+function createBallJoints(
+    RAPIER: RAPIER_API,
+    world: RAPIER.World,
+    num: number,
+) {
+    let rad = 0.4;
+    let shift = 1.0;
+    let i, k;
+    let parents = [];
+
+    for (k = 0; k < num; ++k) {
+        for (i = 0; i < num; ++i) {
+            let fk = k;
+            let fi = i;
+
+            let bodyType;
+
+            if (i == 0 && (k % 4 == 0 || k == num - 1)) {
+                bodyType = RAPIER.RigidBodyType.Fixed;
+            } else {
+                bodyType = RAPIER.RigidBodyType.Dynamic;
+            }
+
+            let bodyDesc = new RAPIER.RigidBodyDesc(bodyType).setTranslation(
+                fk * shift,
+                0.0,
+                fi * shift,
+            );
+            let child = world.createRigidBody(bodyDesc);
+            let colliderDesc = RAPIER.ColliderDesc.ball(rad);
+            world.createCollider(colliderDesc, child);
+
+            // Vertical joint.
+            let o = new RAPIER.Vector3(0.0, 0.0, 0.0);
+
+            if (i > 0) {
+                let parent = parents[parents.length - 1];
+                let params = RAPIER.JointData.spherical(
+                    o,
+                    new RAPIER.Vector3(0.0, 0.0, -shift),
+                );
+                world.createImpulseJoint(params, parent, child, true);
+            }
+
+            // Horizontal joint.
+            if (k > 0) {
+                let parent_index = parents.length - num;
+                let parent = parents[parent_index];
+                let params = RAPIER.JointData.spherical(
+                    o,
+                    new RAPIER.Vector3(-shift, 0.0, 0.0),
+                );
+                world.createImpulseJoint(params, parent, child, true);
+            }
+
+            parents.push(child);
+        }
+    }
+}
+
+export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
+    let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0);
+    let world = new RAPIER.World(gravity);
+
+    createPrismaticJoints(
+        RAPIER,
+        world,
+        new RAPIER.Vector3(20.0, 10.0, 0.0),
+        5,
+    );
+    createFixedJoints(RAPIER, world, new RAPIER.Vector3(0.0, 10.0, 0.0), 5);
+    createRevoluteJoints(RAPIER, world, new RAPIER.Vector3(20.0, 0.0, 0.0), 3);
+    createBallJoints(RAPIER, world, 15);
+
+    testbed.setWorld(world);
+    let cameraPosition = {
+        eye: {x: 15.0, y: 5.0, z: 42.0},
+        target: {x: 13.0, y: 1.0, z: 1.0},
+    };
+    testbed.lookAt(cameraPosition);
+}
diff --git a/thirdparty/rapier.js/testbed3d/src/demos/keva.ts b/thirdparty/rapier.js/testbed3d/src/demos/keva.ts
new file mode 100644
index 00000000..d4e27cb0
--- /dev/null
+++ b/thirdparty/rapier.js/testbed3d/src/demos/keva.ts
@@ -0,0 +1,139 @@
+import type RAPIER from "@dimforge/rapier3d";
+import type {Testbed} from "../Testbed";
+
+type RAPIER_API = typeof import("@dimforge/rapier3d");
+
+function buildBlock(
+    RAPIER: RAPIER_API,
+    world: RAPIER.World,
+    halfExtents: RAPIER.Vector,
+    shift: RAPIER.Vector,
+    numx: number,
+    numy: number,
+    numz: number,
+) {
+    let half_extents_zyx = {
+        x: halfExtents.z,
+        y: halfExtents.y,
+        z: halfExtents.x,
+    };
+    let dimensions = [halfExtents, half_extents_zyx];
+    let blockWidth = 2.0 * halfExtents.z * numx;
+    let blockHeight = 2.0 * halfExtents.y * numy;
+    let spacing = (halfExtents.z * numx - halfExtents.x) / (numz - 1.0);
+
+    let i;
+    let j;
+    let k;
+
+    for (i = 0; i < numy; ++i) {
+        [numx, numz] = [numz, numx];
+        let dim = dimensions[i % 2];
+        let y = dim.y * i * 2.0;
+
+        for (j = 0; j < numx; ++j) {
+            let x = i % 2 == 0 ? spacing * j * 2.0 : dim.x * j * 2.0;
+
+            for (k = 0; k < numz; ++k) {
+                let z = i % 2 == 0 ? dim.z * k * 2.0 : spacing * k * 2.0;
+                // Build the rigid body.
+                let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(
+                    x + dim.x + shift.x,
+                    y + dim.y + shift.y,
+                    z + dim.z + shift.z,
+                );
+                let body = world.createRigidBody(bodyDesc);
+                let colliderDesc = RAPIER.ColliderDesc.cuboid(
+                    dim.x,
+                    dim.y,
+                    dim.z,
+                );
+                world.createCollider(colliderDesc, body);
+            }
+        }
+    }
+
+    // Close the top.
+    let dim = {x: halfExtents.z, y: halfExtents.x, z: halfExtents.y};
+
+    for (i = 0; i < blockWidth / (dim.x * 2.0); ++i) {
+        for (j = 0; j < blockWidth / (dim.z * 2.0); ++j) {
+            // Build the rigid body.
+            let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(
+                i * dim.x * 2.0 + dim.x + shift.x,
+                dim.y + shift.y + blockHeight,
+                j * dim.z * 2.0 + dim.z + shift.z,
+            );
+            let body = world.createRigidBody(bodyDesc);
+            let colliderDesc = RAPIER.ColliderDesc.cuboid(dim.x, dim.y, dim.z);
+            world.createCollider(colliderDesc, body);
+        }
+    }
+}
+
+export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
+    let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0);
+    let world = new RAPIER.World(gravity);
+
+    // Create Ground.
+    let groundSize = 50.0;
+    let groundHeight = 0.1;
+    let bodyDesc = RAPIER.RigidBodyDesc.fixed().setTranslation(
+        0.0,
+        -groundHeight,
+        0.0,
+    );
+    let body = world.createRigidBody(bodyDesc);
+    let colliderDesc = RAPIER.ColliderDesc.cuboid(
+        groundSize,
+        groundHeight,
+        groundSize,
+    );
+    world.createCollider(colliderDesc, body);
+
+    // Keva tower.
+    let halfExtents = new RAPIER.Vector3(0.1, 0.5, 2.0);
+    let blockHeight = 0.0;
+    // These should only be set to odd values otherwise
+    // the blocks won't align in the nicest way.
+    let numyArr = [0, 3, 5, 5, 7, 9];
+    let numBlocksBuilt = 0;
+    let i;
+
+    for (i = 5; i >= 1; --i) {
+        let numx = i;
+        let numy = numyArr[i];
+        let numz = numx * 3 + 1;
+        let blockWidth = numx * halfExtents.z * 2.0;
+        buildBlock(
+            RAPIER,
+            world,
+            halfExtents,
+            new RAPIER.Vector3(
+                -blockWidth / 2.0,
+                blockHeight,
+                -blockWidth / 2.0,
+            ),
+            numx,
+            numy,
+            numz,
+        );
+        blockHeight += numy * halfExtents.y * 2.0 + halfExtents.x * 2.0;
+        numBlocksBuilt += numx * numy * numz;
+    }
+
+    testbed.setWorld(world);
+    let cameraPosition = {
+        eye: {
+            x: -70.38553832116718,
+            y: 17.893810295517365,
+            z: 29.34767842147597,
+        },
+        target: {
+            x: 0.5890869353464383,
+            y: 3.132044603021203,
+            z: -0.2899937806661885,
+        },
+    };
+    testbed.lookAt(cameraPosition);
+}
diff --git a/thirdparty/rapier.js/testbed3d/src/demos/lockedRotations.ts b/thirdparty/rapier.js/testbed3d/src/demos/lockedRotations.ts
new file mode 100644
index 00000000..e3b4c538
--- /dev/null
+++ b/thirdparty/rapier.js/testbed3d/src/demos/lockedRotations.ts
@@ -0,0 +1,58 @@
+import type {Testbed} from "../Testbed";
+
+type RAPIER_API = typeof import("@dimforge/rapier3d");
+
+export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
+    let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0);
+    let world = new RAPIER.World(gravity);
+
+    /*
+     * The ground
+     */
+    let ground_size = 1.7;
+    let ground_height = 0.1;
+
+    let bodyDesc = RAPIER.RigidBodyDesc.fixed().setTranslation(
+        0.0,
+        -ground_height,
+        0.0,
+    );
+    let body = world.createRigidBody(bodyDesc);
+    let colliderDesc = RAPIER.ColliderDesc.cuboid(
+        ground_size,
+        ground_height,
+        ground_size,
+    );
+    world.createCollider(colliderDesc, body);
+
+    /*
+     * A rectangle that only rotates along the `x` axis.
+     */
+    bodyDesc = RAPIER.RigidBodyDesc.dynamic()
+        .setTranslation(0.0, 3.0, 0.0)
+        .lockTranslations()
+        .enabledRotations(true, false, false);
+    body = world.createRigidBody(bodyDesc);
+    colliderDesc = RAPIER.ColliderDesc.cuboid(0.2, 0.6, 2.0);
+    world.createCollider(colliderDesc, body);
+
+    /*
+     * A cylinder that cannot rotate.
+     */
+    bodyDesc = RAPIER.RigidBodyDesc.dynamic()
+        .setTranslation(0.2, 5.0, 0.4)
+        .lockRotations();
+    body = world.createRigidBody(bodyDesc);
+    colliderDesc = RAPIER.ColliderDesc.cylinder(0.6, 0.4);
+    world.createCollider(colliderDesc, body);
+
+    /*
+     * Setup the testbed.
+     */
+    testbed.setWorld(world);
+    let cameraPosition = {
+        eye: {x: -10.0, y: 3.0, z: 0.0},
+        target: {x: 0.0, y: 3.0, z: 0.0},
+    };
+    testbed.lookAt(cameraPosition);
+}
diff --git a/thirdparty/rapier.js/testbed3d/src/demos/pidController.ts b/thirdparty/rapier.js/testbed3d/src/demos/pidController.ts
new file mode 100644
index 00000000..ea3e1286
--- /dev/null
+++ b/thirdparty/rapier.js/testbed3d/src/demos/pidController.ts
@@ -0,0 +1,127 @@
+import type {Testbed} from "../Testbed";
+
+type RAPIER_API = typeof import("@dimforge/rapier3d");
+
+export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
+    let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0);
+    let world = new RAPIER.World(gravity);
+
+    // Create Ground.
+    let bodyDesc = RAPIER.RigidBodyDesc.fixed();
+    let body = world.createRigidBody(bodyDesc);
+    let colliderDesc = RAPIER.ColliderDesc.cuboid(15.0, 0.1, 15.0);
+    world.createCollider(colliderDesc, body);
+
+    // Dynamic cubes.
+    let rad = 0.5;
+    let num = 5;
+    let i, j, k;
+    let shift = rad * 2.5;
+    let center = num * rad;
+    let height = 5.0;
+
+    for (i = 0; i < num; ++i) {
+        for (j = i; j < num; ++j) {
+            for (k = i; k < num; ++k) {
+                let x = (i * shift) / 2.0 + (k - i) * shift - center;
+                let y = (i * shift) / 2.0 + height;
+                let z = (i * shift) / 2.0 + (j - i) * shift - center;
+
+                // Create dynamic cube.
+                let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(
+                    x,
+                    y,
+                    z,
+                );
+                let body = world.createRigidBody(bodyDesc);
+                let colliderDesc = RAPIER.ColliderDesc.cuboid(
+                    rad,
+                    rad / 2.0,
+                    rad,
+                );
+                world.createCollider(colliderDesc, body);
+            }
+        }
+    }
+
+    // Character.
+    let characterDesc = RAPIER.RigidBodyDesc.dynamic()
+        .setTranslation(-10.0, 4.0, -10.0)
+        .setGravityScale(10.0)
+        .setSoftCcdPrediction(10.0);
+    let character = world.createRigidBody(characterDesc);
+    let characterColliderDesc = RAPIER.ColliderDesc.cylinder(1.2, 0.6);
+    world.createCollider(characterColliderDesc, character);
+
+    let pidController = world.createPidController(
+        60.0,
+        0.0,
+        1.0,
+        RAPIER.PidAxesMask.AllAng,
+    );
+    let speed = 0.2;
+    let movementDirection = {x: 0.0, y: 0.0, z: 0.0};
+    let targetVelocity = {x: 0.0, y: 0.0, z: 0.0};
+    let targetRotation = new RAPIER.Quaternion(0.0, 0.0, 0.0, 1.0);
+
+    let updateCharacter = () => {
+        if (
+            movementDirection.x == 0.0 &&
+            movementDirection.y == 0.0 &&
+            movementDirection.z == 0.0
+        ) {
+            // Only adjust the rotation, but let translation.
+            pidController.setAxes(RAPIER.PidAxesMask.AllAng);
+        } else if (movementDirection.y == 0.0) {
+            // Don’t control the linear Y axis so the player can fall down due to gravity.
+            pidController.setAxes(
+                RAPIER.PidAxesMask.AllAng |
+                    RAPIER.PidAxesMask.LinX |
+                    RAPIER.PidAxesMask.LinZ,
+            );
+        } else {
+            pidController.setAxes(RAPIER.PidAxesMask.All);
+        }
+
+        let targetPoint = character.translation();
+        targetPoint.x += movementDirection.x;
+        targetPoint.y += movementDirection.y;
+        targetPoint.z += movementDirection.z;
+
+        pidController.applyLinearCorrection(
+            character,
+            targetPoint,
+            targetVelocity,
+        );
+        pidController.applyAngularCorrection(
+            character,
+            targetRotation,
+            targetVelocity,
+        );
+    };
+
+    testbed.setWorld(world);
+    testbed.setpreTimestepAction(updateCharacter);
+
+    document.onkeydown = function (event: KeyboardEvent) {
+        if (event.key == "ArrowUp") movementDirection.x = speed;
+        if (event.key == "ArrowDown") movementDirection.x = -speed;
+        if (event.key == "ArrowLeft") movementDirection.z = -speed;
+        if (event.key == "ArrowRight") movementDirection.z = speed;
+        if (event.key == " ") movementDirection.y = speed;
+    };
+
+    document.onkeyup = function (event: KeyboardEvent) {
+        if (event.key == "ArrowUp") movementDirection.x = 0.0;
+        if (event.key == "ArrowDown") movementDirection.x = 0.0;
+        if (event.key == "ArrowLeft") movementDirection.z = 0.0;
+        if (event.key == "ArrowRight") movementDirection.z = 0.0;
+        if (event.key == " ") movementDirection.y = 0.0;
+    };
+
+    let cameraPosition = {
+        eye: {x: -40.0, y: 19.730000000000008, z: 0.0},
+        target: {x: 0.0, y: -0.4126, z: 0.0},
+    };
+    testbed.lookAt(cameraPosition);
+}
diff --git a/thirdparty/rapier.js/testbed3d/src/demos/platform.ts b/thirdparty/rapier.js/testbed3d/src/demos/platform.ts
new file mode 100644
index 00000000..fe51d9ae
--- /dev/null
+++ b/thirdparty/rapier.js/testbed3d/src/demos/platform.ts
@@ -0,0 +1,153 @@
+import seedrandom from "seedrandom";
+import type {Testbed} from "../Testbed";
+
+type RAPIER_API = typeof import("@dimforge/rapier3d");
+
+function generateTriMesh(nsubdivs: number, wx: number, wy: number, wz: number) {
+    let vertices = [];
+    let indices = [];
+
+    let elementWidth = 1.0 / nsubdivs;
+    let rng = seedrandom("trimesh");
+
+    let i, j;
+    for (i = 0; i <= nsubdivs; ++i) {
+        for (j = 0; j <= nsubdivs; ++j) {
+            let x = (j * elementWidth - 0.5) * wx;
+            let y = rng() * wy;
+            let z = (i * elementWidth - 0.5) * wz;
+
+            vertices.push(x, y, z);
+        }
+    }
+
+    for (i = 0; i < nsubdivs; ++i) {
+        for (j = 0; j < nsubdivs; ++j) {
+            let i1 = (i + 0) * (nsubdivs + 1) + (j + 0);
+            let i2 = (i + 0) * (nsubdivs + 1) + (j + 1);
+            let i3 = (i + 1) * (nsubdivs + 1) + (j + 0);
+            let i4 = (i + 1) * (nsubdivs + 1) + (j + 1);
+
+            indices.push(i1, i3, i2);
+            indices.push(i3, i4, i2);
+        }
+    }
+
+    return {
+        vertices: new Float32Array(vertices),
+        indices: new Uint32Array(indices),
+    };
+}
+
+export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
+    let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0);
+    let world = new RAPIER.World(gravity);
+
+    // Create Ground.
+    let bodyDesc = RAPIER.RigidBodyDesc.kinematicVelocityBased();
+    let platformBody = world.createRigidBody(bodyDesc);
+    let trimesh = generateTriMesh(20, 70.0, 4.0, 70.0);
+    let colliderDesc = RAPIER.ColliderDesc.trimesh(
+        trimesh.vertices,
+        trimesh.indices,
+    );
+    world.createCollider(colliderDesc, platformBody);
+    let t = 0.0;
+
+    let movePlatform = () => {
+        t += 0.016;
+        let dy = Math.sin(t) * 10.0;
+        let dang = Math.sin(t) * 0.2;
+        platformBody.setLinvel({x: 0.0, y: dy, z: 0.0}, true);
+        platformBody.setAngvel({x: 0.0, y: dang, z: 0.0}, true);
+    };
+
+    // Dynamic cubes.
+    let num = 4;
+    let numy = 10;
+    let rad = 1.0;
+
+    let shift = rad * 2.0 + rad;
+    let centery = shift / 2.0;
+
+    let offset = -num * (rad * 2.0 + rad) * 0.5;
+    let i, j, k;
+
+    for (j = 0; j < numy; ++j) {
+        for (i = 0; i < num; ++i) {
+            for (k = 0; k < num; ++k) {
+                let x = i * shift + offset;
+                let y = j * shift + centery + 3.0;
+                let z = k * shift + offset;
+
+                // Create dynamic cube.
+                let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(
+                    x,
+                    y,
+                    z,
+                );
+                let body = world.createRigidBody(bodyDesc);
+                let colliderDesc;
+
+                switch (j % 5) {
+                    case 0:
+                        colliderDesc = RAPIER.ColliderDesc.cuboid(
+                            rad,
+                            rad,
+                            rad,
+                        );
+                        break;
+                    case 1:
+                        colliderDesc = RAPIER.ColliderDesc.ball(rad);
+                        break;
+                    case 2:
+                        colliderDesc = RAPIER.ColliderDesc.roundCylinder(
+                            rad,
+                            rad,
+                            rad / 10.0,
+                        );
+                        break;
+                    case 3:
+                        colliderDesc = RAPIER.ColliderDesc.cone(rad, rad);
+                        break;
+                    case 4:
+                        colliderDesc = RAPIER.ColliderDesc.cuboid(
+                            rad / 2.0,
+                            rad / 2.0,
+                            rad / 2.0,
+                        );
+                        world.createCollider(colliderDesc, body);
+                        colliderDesc = RAPIER.ColliderDesc.cuboid(
+                            rad / 2.0,
+                            rad,
+                            rad / 2.0,
+                        ).setTranslation(rad, 0.0, 0.0);
+                        world.createCollider(colliderDesc, body);
+                        colliderDesc = RAPIER.ColliderDesc.cuboid(
+                            rad / 2.0,
+                            rad,
+                            rad / 2.0,
+                        ).setTranslation(-rad, 0.0, 0.0);
+                        break;
+                }
+
+                world.createCollider(colliderDesc, body);
+            }
+        }
+
+        offset -= 0.05 * rad * (num - 1.0);
+    }
+
+    testbed.setWorld(world);
+    testbed.setpreTimestepAction(movePlatform);
+
+    let cameraPosition = {
+        eye: {
+            x: -88.48024008669711,
+            y: 46.911325612198354,
+            z: 83.56055570254844,
+        },
+        target: {x: 0.0, y: 0.0, z: 0.0},
+    };
+    testbed.lookAt(cameraPosition);
+}
diff --git a/thirdparty/rapier.js/testbed3d/src/demos/pyramid.ts b/thirdparty/rapier.js/testbed3d/src/demos/pyramid.ts
new file mode 100644
index 00000000..9a63e47e
--- /dev/null
+++ b/thirdparty/rapier.js/testbed3d/src/demos/pyramid.ts
@@ -0,0 +1,51 @@
+import type {Testbed} from "../Testbed";
+
+type RAPIER_API = typeof import("@dimforge/rapier3d");
+
+export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
+    let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0);
+    let world = new RAPIER.World(gravity);
+
+    // Create Ground.
+    let bodyDesc = RAPIER.RigidBodyDesc.fixed();
+    let body = world.createRigidBody(bodyDesc);
+    let colliderDesc = RAPIER.ColliderDesc.cuboid(30.0, 0.1, 30.0);
+    world.createCollider(colliderDesc, body);
+
+    // Dynamic cubes.
+    let rad = 0.5;
+    let num = 10;
+    let i, j, k;
+    let shift = rad * 2.5;
+    let center = num * rad;
+    let height = 10.0;
+
+    for (i = 0; i < num; ++i) {
+        for (j = i; j < num; ++j) {
+            for (k = i; k < num; ++k) {
+                let x =
+                    (i * shift) / 2.0 + (k - i) * shift - height * rad - center;
+                let y = i * shift + height;
+                let z =
+                    (i * shift) / 2.0 + (j - i) * shift - height * rad - center;
+
+                // Create dynamic cube.
+                let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(
+                    x,
+                    y,
+                    z,
+                );
+                let body = world.createRigidBody(bodyDesc);
+                let colliderDesc = RAPIER.ColliderDesc.cuboid(rad, rad, rad);
+                world.createCollider(colliderDesc, body);
+            }
+        }
+    }
+
+    testbed.setWorld(world);
+    let cameraPosition = {
+        eye: {x: -31.96000000000001, y: 19.730000000000008, z: -27.86},
+        target: {x: -0.0505, y: -0.4126, z: -0.0229},
+    };
+    testbed.lookAt(cameraPosition);
+}
diff --git a/thirdparty/rapier.js/testbed3d/src/demos/trimesh.ts b/thirdparty/rapier.js/testbed3d/src/demos/trimesh.ts
new file mode 100644
index 00000000..5a50bd3b
--- /dev/null
+++ b/thirdparty/rapier.js/testbed3d/src/demos/trimesh.ts
@@ -0,0 +1,143 @@
+import seedrandom from "seedrandom";
+import type {Testbed} from "../Testbed";
+
+type RAPIER_API = typeof import("@dimforge/rapier3d");
+
+function generateTriMesh(nsubdivs: number, wx: number, wy: number, wz: number) {
+    let vertices = [];
+    let indices = [];
+
+    let elementWidth = 1.0 / nsubdivs;
+    let rng = seedrandom("trimesh");
+
+    let i, j;
+    for (i = 0; i <= nsubdivs; ++i) {
+        for (j = 0; j <= nsubdivs; ++j) {
+            let x = (j * elementWidth - 0.5) * wx;
+            let y = rng() * wy;
+            let z = (i * elementWidth - 0.5) * wz;
+
+            vertices.push(x, y, z);
+        }
+    }
+
+    for (i = 0; i < nsubdivs; ++i) {
+        for (j = 0; j < nsubdivs; ++j) {
+            let i1 = (i + 0) * (nsubdivs + 1) + (j + 0);
+            let i2 = (i + 0) * (nsubdivs + 1) + (j + 1);
+            let i3 = (i + 1) * (nsubdivs + 1) + (j + 0);
+            let i4 = (i + 1) * (nsubdivs + 1) + (j + 1);
+
+            indices.push(i1, i3, i2);
+            indices.push(i3, i4, i2);
+        }
+    }
+
+    return {
+        vertices: new Float32Array(vertices),
+        indices: new Uint32Array(indices),
+    };
+}
+
+export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
+    let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0);
+    let world = new RAPIER.World(gravity);
+
+    // Create Ground.
+    let bodyDesc = RAPIER.RigidBodyDesc.fixed();
+    let body = world.createRigidBody(bodyDesc);
+    let trimesh = generateTriMesh(20, 70.0, 4.0, 70.0);
+    let colliderDesc = RAPIER.ColliderDesc.trimesh(
+        trimesh.vertices,
+        trimesh.indices,
+    );
+    world.createCollider(colliderDesc, body);
+
+    // Dynamic cubes.
+    let num = 4;
+    let numy = 10;
+    let rad = 1.0;
+
+    let shift = rad * 2.0 + rad;
+    let centery = shift / 2.0;
+
+    let offset = -num * (rad * 2.0 + rad) * 0.5;
+    let i, j, k;
+
+    for (j = 0; j < numy; ++j) {
+        for (i = 0; i < num; ++i) {
+            for (k = 0; k < num; ++k) {
+                let x = i * shift + offset;
+                let y = j * shift + centery + 3.0;
+                let z = k * shift + offset;
+
+                // Create dynamic cube.
+                let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(
+                    x,
+                    y,
+                    z,
+                );
+                let body = world.createRigidBody(bodyDesc);
+                let colliderDesc;
+
+                switch (j % 5) {
+                    case 0:
+                        colliderDesc = RAPIER.ColliderDesc.cuboid(
+                            rad,
+                            rad,
+                            rad,
+                        );
+                        break;
+                    case 1:
+                        colliderDesc = RAPIER.ColliderDesc.ball(rad);
+                        break;
+                    case 2:
+                        colliderDesc = RAPIER.ColliderDesc.roundCylinder(
+                            rad,
+                            rad,
+                            rad / 10.0,
+                        );
+                        break;
+                    case 3:
+                        colliderDesc = RAPIER.ColliderDesc.cone(rad, rad);
+                        break;
+                    case 4:
+                        colliderDesc = RAPIER.ColliderDesc.cuboid(
+                            rad / 2.0,
+                            rad / 2.0,
+                            rad / 2.0,
+                        );
+                        world.createCollider(colliderDesc, body);
+                        colliderDesc = RAPIER.ColliderDesc.cuboid(
+                            rad / 2.0,
+                            rad,
+                            rad / 2.0,
+                        ).setTranslation(rad, 0.0, 0.0);
+                        world.createCollider(colliderDesc, body);
+                        colliderDesc = RAPIER.ColliderDesc.cuboid(
+                            rad / 2.0,
+                            rad,
+                            rad / 2.0,
+                        ).setTranslation(-rad, 0.0, 0.0);
+                        break;
+                }
+
+                world.createCollider(colliderDesc, body);
+            }
+        }
+
+        offset -= 0.05 * rad * (num - 1.0);
+    }
+
+    testbed.setWorld(world);
+
+    let cameraPosition = {
+        eye: {
+            x: -88.48024008669711,
+            y: 46.911325612198354,
+            z: 83.56055570254844,
+        },
+        target: {x: 0.0, y: 0.0, z: 0.0},
+    };
+    testbed.lookAt(cameraPosition);
+}
diff --git a/thirdparty/rapier.js/testbed3d/src/demos/voxels.ts b/thirdparty/rapier.js/testbed3d/src/demos/voxels.ts
new file mode 100644
index 00000000..936b8730
--- /dev/null
+++ b/thirdparty/rapier.js/testbed3d/src/demos/voxels.ts
@@ -0,0 +1,130 @@
+import seedrandom from "seedrandom";
+import type {Testbed} from "../Testbed";
+
+type RAPIER_API = typeof import("@dimforge/rapier3d");
+
+function generateVoxels(n: number) {
+    let points = [];
+
+    let i, j;
+    for (i = 0; i <= n; ++i) {
+        for (j = 0; j <= n; ++j) {
+            let y =
+                Math.max(
+                    -0.8,
+                    Math.min(
+                        Math.sin((i / n) * 10.0) * Math.cos((j / n) * 10.0),
+                        0.8,
+                    ),
+                ) * 8.0;
+            points.push(i - n / 2.0, y, j - n / 2.0);
+        }
+    }
+    return {
+        points: new Float32Array(points),
+        voxelSize: {x: 1.0, y: 1.2, z: 1.5},
+    };
+}
+
+export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
+    let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0);
+    let world = new RAPIER.World(gravity);
+
+    // Create Ground.
+    let bodyDesc = RAPIER.RigidBodyDesc.fixed();
+    let body = world.createRigidBody(bodyDesc);
+    let voxels = generateVoxels(100);
+    let colliderDesc = RAPIER.ColliderDesc.voxels(
+        voxels.points,
+        voxels.voxelSize,
+    );
+    world.createCollider(colliderDesc, body);
+
+    // Dynamic cubes.
+    let num = 10;
+    let numy = 4;
+    let rad = 1.0;
+
+    let shift = rad * 2.0 + rad;
+    let centery = shift / 2.0;
+
+    let offset = -num * (rad * 2.0 + rad) * 0.5;
+    let i, j, k;
+
+    for (j = 0; j < numy; ++j) {
+        for (i = 0; i < num; ++i) {
+            for (k = 0; k < num; ++k) {
+                let x = i * shift + offset;
+                let y = j * shift + centery + 10.0;
+                let z = k * shift + offset;
+
+                // Create dynamic cube.
+                let bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(
+                    x,
+                    y,
+                    z,
+                );
+                let body = world.createRigidBody(bodyDesc);
+                let colliderDesc;
+
+                switch (j % 5) {
+                    case 0:
+                        colliderDesc = RAPIER.ColliderDesc.cuboid(
+                            rad,
+                            rad,
+                            rad,
+                        );
+                        break;
+                    case 1:
+                        colliderDesc = RAPIER.ColliderDesc.ball(rad);
+                        break;
+                    case 2:
+                        colliderDesc = RAPIER.ColliderDesc.roundCylinder(
+                            rad,
+                            rad,
+                            rad / 10.0,
+                        );
+                        break;
+                    case 3:
+                        colliderDesc = RAPIER.ColliderDesc.cone(rad, rad);
+                        break;
+                    case 4:
+                        colliderDesc = RAPIER.ColliderDesc.cuboid(
+                            rad / 2.0,
+                            rad / 2.0,
+                            rad / 2.0,
+                        );
+                        world.createCollider(colliderDesc, body);
+                        colliderDesc = RAPIER.ColliderDesc.cuboid(
+                            rad / 2.0,
+                            rad,
+                            rad / 2.0,
+                        ).setTranslation(rad, 0.0, 0.0);
+                        world.createCollider(colliderDesc, body);
+                        colliderDesc = RAPIER.ColliderDesc.cuboid(
+                            rad / 2.0,
+                            rad,
+                            rad / 2.0,
+                        ).setTranslation(-rad, 0.0, 0.0);
+                        break;
+                }
+
+                world.createCollider(colliderDesc, body);
+            }
+        }
+
+        offset -= 0.05 * rad * (num - 1.0);
+    }
+
+    testbed.setWorld(world);
+
+    let cameraPosition = {
+        eye: {
+            x: -88.48024008669711,
+            y: 46.911325612198354,
+            z: 83.56055570254844,
+        },
+        target: {x: 0.0, y: 0.0, z: 0.0},
+    };
+    testbed.lookAt(cameraPosition);
+}
diff --git a/thirdparty/rapier.js/testbed3d/src/index.ts b/thirdparty/rapier.js/testbed3d/src/index.ts
new file mode 100644
index 00000000..accfad53
--- /dev/null
+++ b/thirdparty/rapier.js/testbed3d/src/index.ts
@@ -0,0 +1,42 @@
+import {Testbed} from "./Testbed";
+import * as Trimesh from "./demos/trimesh";
+import * as Voxels from "./demos/voxels";
+import * as CollisionGroups from "./demos/collisionGroups";
+import * as Pyramid from "./demos/pyramid";
+import * as Keva from "./demos/keva";
+import * as Joints from "./demos/joints";
+import * as Fountain from "./demos/fountain";
+import * as Damping from "./demos/damping";
+import * as Heightfield from "./demos/heightfield";
+import * as LockedRotations from "./demos/lockedRotations";
+import * as ConvexPolyhedron from "./demos/convexPolyhedron";
+import * as CCD from "./demos/ccd";
+import * as Platform from "./demos/platform";
+import * as CharacterController from "./demos/characterController";
+import * as PidController from "./demos/pidController";
+import * as glbToTrimesh from "./demos/glbToTrimesh";
+import * as glbToConvexHull from "./demos/glbtoConvexHull";
+
+import("@dimforge/rapier3d").then((RAPIER) => {
+    let builders = new Map([
+        ["collision groups", CollisionGroups.initWorld],
+        ["character controller", CharacterController.initWorld],
+        ["convex polyhedron", ConvexPolyhedron.initWorld],
+        ["CCD", CCD.initWorld],
+        ["damping", Damping.initWorld],
+        ["fountain", Fountain.initWorld],
+        ["heightfield", Heightfield.initWorld],
+        ["joints", Joints.initWorld],
+        ["keva tower", Keva.initWorld],
+        ["locked rotations", LockedRotations.initWorld],
+        ["pid controller", PidController.initWorld],
+        ["platform", Platform.initWorld],
+        ["pyramid", Pyramid.initWorld],
+        ["triangle mesh", Trimesh.initWorld],
+        ["voxels", Voxels.initWorld],
+        ["GLTF to convexHull", glbToConvexHull.initWorld],
+        ["GLTF to trimesh", glbToTrimesh.initWorld],
+    ]);
+    let testbed = new Testbed(RAPIER, builders);
+    testbed.run();
+});
diff --git a/thirdparty/rapier.js/testbed3d/static/.htaccess b/thirdparty/rapier.js/testbed3d/static/.htaccess
new file mode 100644
index 00000000..9bdb356b
--- /dev/null
+++ b/thirdparty/rapier.js/testbed3d/static/.htaccess
@@ -0,0 +1,3 @@
+RewriteEngine On
+RewriteCond %{SERVER_PORT} 80
+RewriteRule ^(.*)$ https://www.rapier.rs/$1 [R,L]
diff --git a/thirdparty/rapier.js/testbed3d/static/index.html b/thirdparty/rapier.js/testbed3d/static/index.html
new file mode 100644
index 00000000..d2a61221
--- /dev/null
+++ b/thirdparty/rapier.js/testbed3d/static/index.html
@@ -0,0 +1,18 @@
+<!DOCTYPE html>
+<html>
+    <head>
+        <meta charset="utf-8" />
+        <title>Rapier3D JS bindings demo</title>
+        <style>
+            body {
+                margin: 0;
+            }
+            canvas {
+                display: block;
+            }
+        </style>
+    </head>
+    <body>
+        <script src="index.js"></script>
+    </body>
+</html>
diff --git a/thirdparty/rapier.js/testbed3d/static/suzanne_blender_monkey.glb b/thirdparty/rapier.js/testbed3d/static/suzanne_blender_monkey.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6b8819b0e9103c3192b0ec5991642c3900f09231
GIT binary patch
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diff --git a/thirdparty/rapier.js/testbed3d/tsconfig.json b/thirdparty/rapier.js/testbed3d/tsconfig.json
new file mode 100644
index 00000000..5d07ecd8
--- /dev/null
+++ b/thirdparty/rapier.js/testbed3d/tsconfig.json
@@ -0,0 +1,11 @@
+{
+    "compilerOptions": {
+        "outDir": "./dist/",
+        "noImplicitAny": true,
+        "module": "es2022",
+        "target": "es2022",
+        "allowJs": true,
+        "moduleResolution": "node",
+        "allowSyntheticDefaultImports": true
+    }
+}
diff --git a/thirdparty/rapier.js/testbed3d/webpack.config.js b/thirdparty/rapier.js/testbed3d/webpack.config.js
new file mode 100644
index 00000000..0e5c9839
--- /dev/null
+++ b/thirdparty/rapier.js/testbed3d/webpack.config.js
@@ -0,0 +1,55 @@
+const webpack = require("webpack");
+const path = require("path");
+const CopyPlugin = require("copy-webpack-plugin");
+
+const isDev = process.env.NODE_ENV === "development";
+const dist = path.resolve(__dirname, "dist");
+
+/**
+ * @type {import('webpack-dev-server').Configuration}
+ */
+const devServer = {
+    static: {
+        directory: dist,
+    },
+    allowedHosts: "all",
+    compress: true,
+};
+
+/**
+ * @type {import('webpack').Configuration}
+ */
+const webpackConfig = {
+    mode: isDev ? "development" : "production",
+    entry: "./src/index.ts",
+    devtool: "inline-source-map",
+    output: {
+        path: dist,
+        filename: "index.js",
+    },
+    resolve: {
+        extensions: [".ts", ".js"],
+    },
+    devServer,
+    performance: false,
+    experiments: {
+        asyncWebAssembly: true,
+        syncWebAssembly: true,
+    },
+    module: {
+        rules: [
+            {
+                test: /\.tsx?$/,
+                use: "ts-loader",
+                exclude: /node_modules/,
+            },
+        ],
+    },
+    plugins: [
+        new CopyPlugin({
+            patterns: [{from: "static", to: dist}],
+        }),
+    ],
+};
+
+module.exports = webpackConfig;