esengine/thirdparty/rapier.js/CHANGELOG.md

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 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 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
  • ⚠️ 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 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 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 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 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 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 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 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.