@dimforge/rapier3d-compat - npm Package Compare versions

Comparing version 0.0.0-4699217-20230304 to 0.0.0-4f5edf4-20240505

control/character_controller.d.ts

@@ -11,6 +11,6 @@ import { Vector } from "../math";
     collider: Collider | null;
-    /** The translation applied to the character before this collision took place. */
-    translationApplied: Vector;
-    /** The translation the character would move after this collision if there is no other obstacles. */
-    translationRemaining: Vector;
+    /** The translation delta applied to the character before this collision took place. */
+    translationDeltaApplied: Vector;
+    /** The translation delta the character would move after this collision if there is no other obstacles. */
+    translationDeltaRemaining: Vector;
     /** The time-of-impact between the character and the obstacles. */
@@ -82,2 +82,4 @@ toi: number;
     setOffset(value: number): void;
+    normalNudgeFactor(): number;
+    setNormalNudgeFactor(value: number): void;
     /**
@@ -161,3 +163,3 @@ * Is sliding against obstacles enabled?
      * @param collider - The collider to move.
-     * @param desiredTranslation - The desired collider movement.
+     * @param desiredTranslationDelta - The desired collider movement.
      * @param filterFlags - Flags for excluding whole subsets of colliders from the obstacles taken into account.
@@ -169,3 +171,3 @@ * @param filterGroups - Groups for excluding colliders with incompatible collision groups from the obstacles
      */
-    computeColliderMovement(collider: Collider, desiredTranslation: Vector, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterPredicate?: (collider: Collider) => boolean): void;
+    computeColliderMovement(collider: Collider, desiredTranslationDelta: Vector, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterPredicate?: (collider: Collider) => boolean): void;
     /**
@@ -172,0 +174,0 @@ * The movement computed by the last call to `this.computeColliderMovement`.

control/index.d.ts

 export * from "./character_controller";
+export * from "./ray_cast_vehicle_controller";

dynamics/impulse_joint.d.ts

@@ -18,2 +18,3 @@ import { Rotation, Vector } from "../math";
  * - `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.
  */
@@ -24,3 +25,6 @@ export declare enum JointType {
     Prismatic = 2,
-    Spherical = 3
+    Rope = 3,
+    Spring = 4,
+    Spherical = 5,
+    Generic = 6
 }
@@ -31,2 +35,25 @@ export declare enum MotorModel {
 }
+/**
+ * An enum representing the possible joint axes of a generic joint.
+ * They can be ORed together, like:
+ * JointAxesMask.X || JointAxesMask.Y
+ * 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 declare enum JointAxesMask {
+    X = 1,
+    Y = 2,
+    Z = 4,
+    AngX = 8,
+    AngY = 16,
+    AngZ = 32
+}
 export declare class ImpulseJoint {
@@ -135,2 +162,6 @@ protected rawSet: RawImpulseJointSet;
 }
+export declare class RopeImpulseJoint extends ImpulseJoint {
+}
+export declare class SpringImpulseJoint extends ImpulseJoint {
+}
 export declare class PrismaticImpulseJoint extends UnitImpulseJoint {
@@ -142,2 +173,4 @@ rawAxis(): RawJointAxis;
 }
+export declare class GenericImpulseJoint extends ImpulseJoint {
+}
 export declare class SphericalImpulseJoint extends ImpulseJoint {
@@ -154,2 +187,6 @@ }
     limits: Array<number>;
+    axesMask: JointAxesMask;
+    stiffness: number;
+    damping: number;
+    length: number;
     private constructor();
@@ -170,3 +207,21 @@ /**
     static fixed(anchor1: Vector, frame1: Rotation, anchor2: Vector, frame2: Rotation): JointData;
+    static spring(rest_length: number, stiffness: number, damping: number, anchor1: Vector, anchor2: Vector): JointData;
+    static rope(length: number, anchor1: Vector, anchor2: Vector): JointData;
     /**
+     * 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.
+     */
+    static generic(anchor1: Vector, anchor2: Vector, axis: Vector, axesMask: JointAxesMask): JointData;
+    /**
      * Create a new joint descriptor that builds spherical joints.
@@ -173,0 +228,0 @@ *

dynamics/integration_parameters.d.ts

@@ -18,22 +18,27 @@ import { RawIntegrationParameters } from "../raw";
     get erp(): number;
+    get lengthUnit(): number;
     /**
-     * Amount of penetration the engine wont attempt to correct (default: `0.001m`).
+     * 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 allowedLinearError(): number;
+    get normalizedAllowedLinearError(): number;
     /**
-     * The maximal distance separating two objects that will generate predictive contacts (default: `0.002`).
+     * 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 predictionDistance(): number;
+    get normalizedPredictionDistance(): number;
     /**
-     * Maximum number of iterations performed by the velocity constraints solver (default: `4`).
+     * The number of solver iterations run by the constraints solver for calculating forces (default: `4`).
      */
-    get maxVelocityIterations(): number;
+    get numSolverIterations(): number;
     /**
-     * Maximum number of friction iterations performed by the position-based constraints solver (default: `1`).
+     * Number of addition friction resolution iteration run during the last solver sub-step (default: `4`).
      */
-    get maxVelocityFrictionIterations(): number;
+    get numAdditionalFrictionIterations(): number;
     /**
-     * Maximum number of stabilization iterations performed by the position-based constraints solver (default: `1`).
+     * Number of internal Project Gauss Seidel (PGS) iterations run at each solver iteration (default: `1`).
      */
-    get maxStabilizationIterations(): number;
+    get numInternalPgsIterations(): number;
     /**
@@ -49,9 +54,22 @@ * Minimum number of dynamic bodies in each active island (default: `128`).
     set erp(value: number);
-    set allowedLinearError(value: number);
-    set predictionDistance(value: number);
-    set maxVelocityIterations(value: number);
-    set maxVelocityFrictionIterations(value: number);
-    set maxStabilizationIterations(value: number);
+    set lengthUnit(value: number);
+    set normalizedAllowedLinearError(value: number);
+    set normalizedPredictionDistance(value: number);
+    /**
+     * Sets the number of solver iterations run by the constraints solver for calculating forces (default: `4`).
+     */
+    set numSolverIterations(value: number);
+    /**
+     * Sets the number of addition friction resolution iteration run during the last solver sub-step (default: `4`).
+     */
+    set numAdditionalFrictionIterations(value: number);
+    /**
+     * Sets the number of internal Project Gauss Seidel (PGS) iterations run at each solver iteration (default: `1`).
+     */
+    set numInternalPgsIterations(value: number);
     set minIslandSize(value: number);
     set maxCcdSubsteps(value: number);
+    switchToStandardPgsSolver(): void;
+    switchToSmallStepsPgsSolver(): void;
+    switchToSmallStepsPgsSolverWithoutWarmstart(): void;
 }

dynamics/rigid_body.d.ts

@@ -122,2 +122,20 @@ import { RawRigidBodySet } from "../raw";
     /**
+     * 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.
+     */
+    additionalSolverIterations(): number;
+    /**
+     * 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).
+     */
+    setAdditionalSolverIterations(iters: number): void;
+    /**
      * Enable or disable CCD (Continuous Collision Detection) for this rigid-body.
@@ -129,2 +147,16 @@ *
     /**
+     * Sets the soft-CCD prediction distance for this rigid-body.
+     *
+     * See the documentation of `RigidBodyDesc.setSoftCcdPrediction` for
+     * additional details.
+     */
+    setSoftCcdPrediction(distance: number): void;
+    /**
+     * Gets the soft-CCD prediction distance for this rigid-body.
+     *
+     * See the documentation of `RigidBodyDesc.setSoftCcdPrediction` for
+     * additional details.
+     */
+    softCcdPrediction(): number;
+    /**
      * The world-space translation of this rigid-body.
@@ -162,3 +194,3 @@ */
     /**
-     * Sets the linear velocity fo this rigid-body.
+     * Sets the linear velocity of this rigid-body.
      *
@@ -491,3 +523,5 @@ * @param vel - The linear velocity to set.
     ccdEnabled: boolean;
+    softCcdPrediction: number;
     dominanceGroup: number;
+    additionalSolverIterations: number;
     userData?: unknown;
@@ -537,2 +571,14 @@ constructor(status: RigidBodyType);
     /**
+     * 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).
+     */
+    setAdditionalSolverIterations(iters: number): RigidBodyDesc;
+    /**
      * Sets whether the created rigid-body will be enabled or disabled.
@@ -679,2 +725,15 @@ * @param enabled − If set to `false` the rigid-body will be disabled at creation.
     /**
+     * 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.
+     */
+    setSoftCcdPrediction(distance: number): RigidBodyDesc;
+    /**
      * Sets the user-defined object of this rigid-body.
@@ -681,0 +740,0 @@ *

geometry/collider.d.ts

@@ -5,6 +5,6 @@ import { Rotation, Vector } from "../math";
 import { InteractionGroups } from "./interaction_groups";
-import { Shape, ShapeType } from "./shape";
+import { Shape, ShapeType, TriMeshFlags, HeightFieldFlags } from "./shape";
 import { Ray, RayIntersection } from "./ray";
 import { PointProjection } from "./point";
-import { ShapeColliderTOI, ShapeTOI } from "./toi";
+import { ColliderShapeCastHit, ShapeCastHit } from "./toi";
 import { ShapeContact } from "./contact";
@@ -176,5 +176,19 @@ import { ColliderSet } from "./collider_set";
     /**
+     * Sets the contact skin for this collider.
+     *
+     * See the documentation of `ColliderDesc.setContactSkin` for additional details.
+     */
+    contactSkin(): number;
+    /**
+     * Sets the contact skin for this collider.
+     *
+     * See the documentation of `ColliderDesc.setContactSkin` for additional details.
+     *
+     * @param thickness - The contact skin thickness.
+     */
+    setContactSkin(thickness: number): void;
+    /**
      * Get the physics hooks active for this collider.
      */
-    activeHooks(): number;
+    activeHooks(): ActiveHooks;
     /**
@@ -424,4 +438,4 @@ * Set the physics hooks active for this collider.
     intersectsRay(ray: Ray, maxToi: number): boolean;
-    castShape(collider1Vel: Vector, shape2: Shape, shape2Pos: Vector, shape2Rot: Rotation, shape2Vel: Vector, maxToi: number, stopAtPenetration: boolean): ShapeTOI | null;
-    castCollider(collider1Vel: Vector, collider2: Collider, collider2Vel: Vector, maxToi: number, stopAtPenetration: boolean): ShapeColliderTOI | null;
+    castShape(collider1Vel: Vector, shape2: Shape, shape2Pos: Vector, shape2Rot: Rotation, shape2Vel: Vector, targetDistance: number, maxToi: number, stopAtPenetration: boolean): ShapeCastHit | null;
+    castCollider(collider1Vel: Vector, collider2: Collider, collider2Vel: Vector, targetDistance: number, maxToi: number, stopAtPenetration: boolean): ColliderShapeCastHit | null;
     intersectsShape(shape2: Shape, shapePos2: Vector, shapeRot2: Rotation): boolean;
@@ -446,2 +460,14 @@ /**
     contactCollider(collider2: Collider, prediction: number): ShapeContact | null;
+    /**
+     * 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.
+     */
     castRay(ray: Ray, maxToi: number, solid: boolean): number;
@@ -488,2 +514,3 @@ /**
     contactForceEventThreshold: number;
+    contactSkin: number;
     /**
@@ -547,3 +574,3 @@ * Initializes a collider descriptor from the collision shape.
      */
-    static trimesh(vertices: Float32Array, indices: Uint32Array): ColliderDesc;
+    static trimesh(vertices: Float32Array, indices: Uint32Array, flags?: TriMeshFlags): ColliderDesc;
     /**
@@ -575,3 +602,3 @@ * Creates a new collider descriptor with a cuboid shape.
      */
-    static heightfield(nrows: number, ncols: number, heights: Float32Array, scale: Vector): ColliderDesc;
+    static heightfield(nrows: number, ncols: number, heights: Float32Array, scale: Vector, flags?: HeightFieldFlags): ColliderDesc;
     /**
@@ -663,2 +690,14 @@ * Create a new collider descriptor with a cylinder shape.
     /**
+     * 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.
+     */
+    setContactSkin(thickness: number): ColliderDesc;
+    /**
      * Sets the density of the collider being built.
@@ -665,0 +704,0 @@ *

geometry/narrow_phase.d.ts

@@ -24,3 +24,3 @@ import { RawNarrowPhase, RawContactManifold } from "../raw";
      */
-    contactsWith(collider1: ColliderHandle, f: (collider2: ColliderHandle) => void): void;
+    contactPairsWith(collider1: ColliderHandle, f: (collider2: ColliderHandle) => void): void;
     /**
@@ -30,3 +30,3 @@ * Enumerates all the colliders intersecting the given colliders, assuming one of them
      */
-    intersectionsWith(collider1: ColliderHandle, f: (collider2: ColliderHandle) => void): void;
+    intersectionPairsWith(collider1: ColliderHandle, f: (collider2: ColliderHandle) => void): void;
     /**
@@ -33,0 +33,0 @@ * Iterates through all the contact manifolds between the given pair of colliders.

geometry/ray.d.ts

 import { Vector } from "../math";
-import { RawRayColliderIntersection, RawRayColliderToi, RawRayIntersection } from "../raw";
+import { RawRayColliderIntersection, RawRayColliderHit, RawRayIntersection } from "../raw";
 import { Collider } from "./collider";
@@ -34,5 +34,5 @@ import { FeatureType } from "./feature";
      *
-     * The hit point is obtained from the ray's origin and direction: `origin + dir * toi`.
+     * The hit point is obtained from the ray's origin and direction: `origin + dir * timeOfImpact`.
      */
-    toi: number;
+    timeOfImpact: number;
     /**
@@ -50,3 +50,3 @@ * The normal of the collider at the hit point.
     featureId: number | undefined;
-    constructor(toi: number, normal: Vector, featureType?: FeatureType, featureId?: number);
+    constructor(timeOfImpact: number, normal: Vector, featureType?: FeatureType, featureId?: number);
     static fromRaw(raw: RawRayIntersection): RayIntersection;
@@ -65,5 +65,5 @@ }
      *
-     * The hit point is obtained from the ray's origin and direction: `origin + dir * toi`.
+     * The hit point is obtained from the ray's origin and direction: `origin + dir * timeOfImpact`.
      */
-    toi: number;
+    timeOfImpact: number;
     /**
@@ -81,3 +81,3 @@ * The normal of the collider at the hit point.
     featureId: number | undefined;
-    constructor(collider: Collider, toi: number, normal: Vector, featureType?: FeatureType, featureId?: number);
+    constructor(collider: Collider, timeOfImpact: number, normal: Vector, featureType?: FeatureType, featureId?: number);
     static fromRaw(colliderSet: ColliderSet, raw: RawRayColliderIntersection): RayColliderIntersection;
@@ -88,3 +88,3 @@ }
  */
-export declare class RayColliderToi {
+export declare class RayColliderHit {
     /**
@@ -97,7 +97,7 @@ * The handle of the collider hit by the ray.
      *
-     * The hit point is obtained from the ray's origin and direction: `origin + dir * toi`.
+     * The hit point is obtained from the ray's origin and direction: `origin + dir * timeOfImpact`.
      */
-    toi: number;
-    constructor(collider: Collider, toi: number);
-    static fromRaw(colliderSet: ColliderSet, raw: RawRayColliderToi): RayColliderToi;
+    timeOfImpact: number;
+    constructor(collider: Collider, timeOfImpact: number);
+    static fromRaw(colliderSet: ColliderSet, raw: RawRayColliderHit): RayColliderHit;
 }

geometry/shape.d.ts

@@ -6,3 +6,3 @@ import { Vector, Rotation } from "../math";
 import { Ray, RayIntersection } from "./ray";
-import { ShapeTOI } from "./toi";
+import { ShapeCastHit } from "./toi";
 import { ColliderHandle } from "./collider";
@@ -28,2 +28,4 @@ export declare abstract class 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.
@@ -37,3 +39,3 @@ * @param stopAtPenetration - If set to `false`, the linear shape-cast won’t immediately stop if
      */
-    castShape(shapePos1: Vector, shapeRot1: Rotation, shapeVel1: Vector, shape2: Shape, shapePos2: Vector, shapeRot2: Rotation, shapeVel2: Vector, maxToi: number, stopAtPenetration: boolean): ShapeTOI | null;
+    castShape(shapePos1: Vector, shapeRot1: Rotation, shapeVel1: Vector, shape2: Shape, shapePos2: Vector, shapeRot2: Rotation, shapeVel2: Vector, targetDistance: number, maxToi: number, stopAtPenetration: boolean): ShapeCastHit | null;
     /**
@@ -91,2 +93,67 @@ * Tests if this shape intersects another shape.
 /**
+ * Flags controlling the behavior of some operations involving heightfields.
+ */
+export declare 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 = 1
+}
+/**
+ * Flags controlling the behavior of the triangle mesh creation and of some
+ * operations involving triangle meshes.
+ */
+export declare enum TriMeshFlags {
+    /**
+     * If set, any triangle that results in a failing half-hedge topology computation will be deleted.
+     */
+    DELETE_BAD_TOPOLOGY_TRIANGLES = 4,
+    /**
+     * 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 = 8,
+    /**
+     * 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 = 16,
+    /**
+     * 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 = 32,
+    /**
+     * 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 = 64,
+    /**
+     * 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 = 152
+}
+/**
  * A shape that is a sphere in 3D and a circle in 2D.
@@ -303,2 +370,6 @@ */
     /**
+     * The triangle mesh flags.
+     */
+    flags: TriMeshFlags;
+    /**
      * Creates a new triangle mesh shape.
@@ -309,3 +380,3 @@ *
      */
-    constructor(vertices: Float32Array, indices: Uint32Array);
+    constructor(vertices: Float32Array, indices: Uint32Array, flags?: TriMeshFlags);
     intoRaw(): RawShape;
@@ -391,2 +462,6 @@ }
     /**
+     * Flags applied to the heightfield.
+     */
+    flags: HeightFieldFlags;
+    /**
      * Creates a new heightfield shape.
@@ -400,3 +475,3 @@ *
      */
-    constructor(nrows: number, ncols: number, heights: Float32Array, scale: Vector);
+    constructor(nrows: number, ncols: number, heights: Float32Array, scale: Vector, flags?: HeightFieldFlags);
     intoRaw(): RawShape;
@@ -403,0 +478,0 @@ }

geometry/toi.d.ts

 import { Collider } from "./collider";
 import { Vector } from "../math";
-import { RawShapeTOI, RawShapeColliderTOI } from "../raw";
+import { RawShapeCastHit, RawColliderShapeCastHit } from "../raw";
 import { ColliderSet } from "./collider_set";
@@ -8,7 +8,7 @@ /**
  */
-export declare class ShapeTOI {
+export declare class ShapeCastHit {
     /**
      * The time of impact of the two shapes.
      */
-    toi: number;
+    time_of_impact: number;
     /**
@@ -34,4 +34,4 @@ * The local-space contact point on the first shape, at
     normal2: Vector;
-    constructor(toi: number, witness1: Vector, witness2: Vector, normal1: Vector, normal2: Vector);
-    static fromRaw(colliderSet: ColliderSet, raw: RawShapeTOI): ShapeTOI;
+    constructor(time_of_impact: number, witness1: Vector, witness2: Vector, normal1: Vector, normal2: Vector);
+    static fromRaw(colliderSet: ColliderSet, raw: RawShapeCastHit): ShapeCastHit;
 }
@@ -41,3 +41,3 @@ /**
  */
-export declare class ShapeColliderTOI extends ShapeTOI {
+export declare class ColliderShapeCastHit extends ShapeCastHit {
     /**
@@ -47,4 +47,4 @@ * The handle of the collider hit by the ray.
     collider: Collider;
-    constructor(collider: Collider, toi: number, witness1: Vector, witness2: Vector, normal1: Vector, normal2: Vector);
-    static fromRaw(colliderSet: ColliderSet, raw: RawShapeColliderTOI): ShapeColliderTOI;
+    constructor(collider: Collider, time_of_impact: number, witness1: Vector, witness2: Vector, normal1: Vector, normal2: Vector);
+    static fromRaw(colliderSet: ColliderSet, raw: RawColliderShapeCastHit): ColliderShapeCastHit;
 }

package.json

@@ -7,3 +7,3 @@ {
   "description": "3-dimensional physics engine in Rust - official JS bindings. Compatibility package with inlined webassembly as base64.",
-  "version": "0.0.0-4699217-20230304",
+  "version": "0.0.0-4f5edf4-20240505",
   "license": "Apache-2.0",
@@ -20,3 +20,5 @@ "repository": {
   "types": "rapier.d.ts",
-  "sideEffects": false,
+  "sideEffects": [
+    "./snippets/*"
+  ],
   "keywords": [
@@ -23,0 +25,0 @@ "physics",

pipeline/event_queue.d.ts

@@ -8,2 +8,3 @@ import { RawContactForceEvent, RawEventQueue } from "../raw";
 export declare enum ActiveEvents {
+    NONE = 0,
     /**
@@ -10,0 +11,0 @@ * Enable collision events.

pipeline/physics_hooks.d.ts

 import { RigidBodyHandle } from "../dynamics";
 import { ColliderHandle } from "../geometry";
 export declare enum ActiveHooks {
+    NONE = 0,
     FILTER_CONTACT_PAIRS = 1,
@@ -5,0 +6,0 @@ FILTER_INTERSECTION_PAIRS = 2

pipeline/query_pipeline.d.ts

 import { RawQueryPipeline } from "../raw";
-import { ColliderHandle, ColliderSet, InteractionGroups, PointColliderProjection, Ray, RayColliderIntersection, RayColliderToi, Shape, ShapeColliderTOI } from "../geometry";
+import { ColliderHandle, ColliderSet, InteractionGroups, PointColliderProjection, Ray, RayColliderIntersection, RayColliderHit, Shape, ColliderShapeCastHit } from "../geometry";
 import { RigidBodyHandle, RigidBodySet } from "../dynamics";
@@ -75,3 +75,3 @@ import { Rotation, Vector } from "../math";
      */
-    castRay(bodies: RigidBodySet, colliders: ColliderSet, ray: Ray, maxToi: number, solid: boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: ColliderHandle, filterExcludeRigidBody?: RigidBodyHandle, filterPredicate?: (collider: ColliderHandle) => boolean): RayColliderToi | null;
+    castRay(bodies: RigidBodySet, colliders: ColliderSet, ray: Ray, maxToi: number, solid: boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: ColliderHandle, filterExcludeRigidBody?: RigidBodyHandle, filterPredicate?: (collider: ColliderHandle) => boolean): RayColliderHit | null;
     /**
@@ -161,2 +161,4 @@ * Find the closest intersection between a ray and a set of collider.
      * @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
@@ -170,3 +172,3 @@ *   limits the distance traveled by the shape to `shapeVel.norm() * maxToi`.
      */
-    castShape(bodies: RigidBodySet, colliders: ColliderSet, shapePos: Vector, shapeRot: Rotation, shapeVel: Vector, shape: Shape, maxToi: number, stopAtPenetration: boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: ColliderHandle, filterExcludeRigidBody?: RigidBodyHandle, filterPredicate?: (collider: ColliderHandle) => boolean): ShapeColliderTOI | null;
+    castShape(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;
     /**
@@ -173,0 +175,0 @@ * Retrieve all the colliders intersecting the given shape.

pipeline/world.d.ts

 import { RawBroadPhase, RawCCDSolver, RawColliderSet, RawDeserializedWorld, RawIntegrationParameters, RawIslandManager, RawImpulseJointSet, RawMultibodyJointSet, RawNarrowPhase, RawPhysicsPipeline, RawQueryPipeline, RawRigidBodySet, RawSerializationPipeline, RawDebugRenderPipeline } from "../raw";
-import { BroadPhase, Collider, ColliderDesc, ColliderHandle, ColliderSet, InteractionGroups, NarrowPhase, PointColliderProjection, Ray, RayColliderIntersection, RayColliderToi, Shape, ShapeColliderTOI, TempContactManifold } from "../geometry";
+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";
@@ -12,2 +12,3 @@ import { Rotation, Vector } from "../math";
 import { KinematicCharacterController } from "../control";
+import { DynamicRayCastVehicleController } from "../control";
 /**
@@ -35,2 +36,3 @@ * The physics world.
     characterControllers: Set<KinematicCharacterController>;
+    vehicleControllers: Set<DynamicRayCastVehicleController>;
     /**
@@ -103,20 +105,42 @@ * Release the WASM memory occupied by this physics world.
     /**
-     * The maximum velocity iterations the velocity-based force constraint solver can make.
+     * The approximate size of most dynamic objects in the scene.
+     *
+     * See the documentation of the `World.lengthUnit` setter for further details.
      */
-    get maxVelocityIterations(): number;
+    get lengthUnit(): number;
     /**
-     * Sets the maximum number of velocity iterations (default: 4).
+     * 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);
+    /**
+     * The number of solver iterations run by the constraints solver for calculating forces (default: `4`).
+     */
+    get numSolverIterations(): number;
+    /**
+     * 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 maximum number of velocity iterations.
+     * @param niter - The new number of solver iterations.
      */
-    set maxVelocityIterations(niter: number);
+    set numSolverIterations(niter: number);
     /**
-     * The maximum velocity iterations the velocity-based friction constraint solver can make.
+     * Number of addition friction resolution iteration run during the last solver sub-step (default: `4`).
      */
-    get maxVelocityFrictionIterations(): number;
+    get numAdditionalFrictionIterations(): number;
     /**
-     * Sets the maximum number of velocity iterations for friction (default: 8).
+     * Sets the number of addition friction resolution iteration run during the last solver sub-step (default: `4`).
      *
@@ -126,18 +150,23 @@ * The greater this value is, the most realistic friction will be.
      *
-     * @param niter - The new maximum number of velocity iterations.
+     * @param niter - The new number of additional friction iterations.
      */
-    set maxVelocityFrictionIterations(niter: number);
+    set numAdditionalFrictionIterations(niter: number);
     /**
-     * The maximum velocity iterations the velocity-based constraint solver can make to attempt to remove
-     * the energy introduced by constraint stabilization.
+     * Number of internal Project Gauss Seidel (PGS) iterations run at each solver iteration (default: `1`).
      */
-    get maxStabilizationIterations(): number;
+    get numInternalPgsIterations(): number;
     /**
-     * Sets the maximum number of velocity iterations for stabilization (default: 1).
+     * Sets the Number of internal Project Gauss Seidel (PGS) iterations run at each solver iteration (default: `1`).
      *
-     * @param niter - The new maximum number of velocity iterations.
+     * 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 maxStabilizationIterations(niter: number);
+    set numInternalPgsIterations(niter: number);
+    switchToStandardPgsSolver(): void;
+    switchToSmallStepsPgsSolver(): void;
+    switchToSmallStepsPgsSolverWithoutWarmstart(): void;
     /**
-     * Creates a new rigid-body from the given rigd-body descriptior.
+     * Creates a new rigid-body from the given rigid-body descriptor.
      *
@@ -160,2 +189,16 @@ * @param body - The description of the rigid-body to create.
     /**
+     * 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.
+     */
+    createVehicleController(chassis: RigidBody): DynamicRayCastVehicleController;
+    /**
+     * Removes a vehicle controller from this world.
+     *
+     * @param controller - The vehicle controller to remove.
+     */
+    removeVehicleController(controller: DynamicRayCastVehicleController): void;
+    /**
      * Creates a new collider.
@@ -273,3 +316,3 @@ *
      */
-    castRay(ray: Ray, maxToi: number, solid: boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: Collider, filterExcludeRigidBody?: RigidBody, filterPredicate?: (collider: Collider) => boolean): RayColliderToi | null;
+    castRay(ray: Ray, maxToi: number, solid: boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: Collider, filterExcludeRigidBody?: RigidBody, filterPredicate?: (collider: Collider) => boolean): RayColliderHit | null;
     /**
@@ -352,2 +395,4 @@ * Find the closest intersection between a ray and the physics world.
      * @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
@@ -361,3 +406,3 @@ *   limits the distance traveled by the shape to `shapeVel.norm() * maxToi`.
      */
-    castShape(shapePos: Vector, shapeRot: Rotation, shapeVel: Vector, shape: Shape, maxToi: number, stopAtPenetration: boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: Collider, filterExcludeRigidBody?: RigidBody, filterPredicate?: (collider: Collider) => boolean): ShapeColliderTOI | null;
+    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;
     /**
@@ -389,3 +434,3 @@ * Retrieve all the colliders intersecting the given shape.
      */
-    contactsWith(collider1: Collider, f: (collider2: Collider) => void): void;
+    contactPairsWith(collider1: Collider, f: (collider2: Collider) => void): void;
     /**
@@ -395,3 +440,3 @@ * Enumerates all the colliders intersecting the given colliders, assuming one of them
      */
-    intersectionsWith(collider1: Collider, f: (collider2: Collider) => void): void;
+    intersectionPairsWith(collider1: Collider, f: (collider2: Collider) => void): void;
     /**
@@ -398,0 +443,0 @@ * Iterates through all the contact manifolds between the given pair of colliders.

rapier_wasm3d_bg.wasm.d.ts

@@ -7,5 +7,5 @@ /* tslint:disable */
 export function rawkinematiccharactercontroller_new(a: number): number;
-export function rawkinematiccharactercontroller_up(a: number): number;
 export function rawkinematiccharactercontroller_setUp(a: number, b: number): void;
-export function rawkinematiccharactercontroller_offset(a: number): number;
+export function rawkinematiccharactercontroller_normalNudgeFactor(a: number): number;
+export function rawkinematiccharactercontroller_setNormalNudgeFactor(a: number, b: number): void;
 export function rawkinematiccharactercontroller_setOffset(a: number, b: number): void;
@@ -36,4 +36,4 @@ export function rawkinematiccharactercontroller_slideEnabled(a: number): number;
 export function rawcharactercollision_handle(a: number): number;
-export function rawcharactercollision_translationApplied(a: number): number;
-export function rawcharactercollision_translationRemaining(a: number): number;
+export function rawcharactercollision_translationDeltaApplied(a: number): number;
+export function rawcharactercollision_translationDeltaRemaining(a: number): number;
 export function rawcharactercollision_toi(a: number): number;
@@ -44,2 +44,53 @@ export function rawcharactercollision_worldWitness1(a: number): number;
 export function rawcharactercollision_worldNormal2(a: number): number;
+export function __wbg_rawdynamicraycastvehiclecontroller_free(a: number): void;
+export function rawdynamicraycastvehiclecontroller_new(a: number): number;
+export function rawdynamicraycastvehiclecontroller_current_vehicle_speed(a: number): number;
+export function rawdynamicraycastvehiclecontroller_chassis(a: number): number;
+export function rawdynamicraycastvehiclecontroller_index_up_axis(a: number): number;
+export function rawdynamicraycastvehiclecontroller_set_index_up_axis(a: number, b: number): void;
+export function rawdynamicraycastvehiclecontroller_index_forward_axis(a: number): number;
+export function rawdynamicraycastvehiclecontroller_set_index_forward_axis(a: number, b: number): void;
+export function rawdynamicraycastvehiclecontroller_add_wheel(a: number, b: number, c: number, d: number, e: number, f: number): void;
+export function rawdynamicraycastvehiclecontroller_num_wheels(a: number): number;
+export function rawdynamicraycastvehiclecontroller_update_vehicle(a: number, b: number, c: number, d: number, e: number, f: number, g: number, h: number, i: number): void;
+export function rawdynamicraycastvehiclecontroller_wheel_chassis_connection_point_cs(a: number, b: number): number;
+export function rawdynamicraycastvehiclecontroller_set_wheel_chassis_connection_point_cs(a: number, b: number, c: number): void;
+export function rawdynamicraycastvehiclecontroller_wheel_suspension_rest_length(a: number, b: number, c: number): void;
+export function rawdynamicraycastvehiclecontroller_set_wheel_suspension_rest_length(a: number, b: number, c: number): void;
+export function rawdynamicraycastvehiclecontroller_wheel_max_suspension_travel(a: number, b: number, c: number): void;
+export function rawdynamicraycastvehiclecontroller_set_wheel_max_suspension_travel(a: number, b: number, c: number): void;
+export function rawdynamicraycastvehiclecontroller_wheel_radius(a: number, b: number, c: number): void;
+export function rawdynamicraycastvehiclecontroller_set_wheel_radius(a: number, b: number, c: number): void;
+export function rawdynamicraycastvehiclecontroller_wheel_suspension_stiffness(a: number, b: number, c: number): void;
+export function rawdynamicraycastvehiclecontroller_set_wheel_suspension_stiffness(a: number, b: number, c: number): void;
+export function rawdynamicraycastvehiclecontroller_wheel_suspension_compression(a: number, b: number, c: number): void;
+export function rawdynamicraycastvehiclecontroller_set_wheel_suspension_compression(a: number, b: number, c: number): void;
+export function rawdynamicraycastvehiclecontroller_wheel_suspension_relaxation(a: number, b: number, c: number): void;
+export function rawdynamicraycastvehiclecontroller_set_wheel_suspension_relaxation(a: number, b: number, c: number): void;
+export function rawdynamicraycastvehiclecontroller_wheel_max_suspension_force(a: number, b: number, c: number): void;
+export function rawdynamicraycastvehiclecontroller_set_wheel_max_suspension_force(a: number, b: number, c: number): void;
+export function rawdynamicraycastvehiclecontroller_wheel_brake(a: number, b: number, c: number): void;
+export function rawdynamicraycastvehiclecontroller_set_wheel_brake(a: number, b: number, c: number): void;
+export function rawdynamicraycastvehiclecontroller_wheel_steering(a: number, b: number, c: number): void;
+export function rawdynamicraycastvehiclecontroller_set_wheel_steering(a: number, b: number, c: number): void;
+export function rawdynamicraycastvehiclecontroller_wheel_engine_force(a: number, b: number, c: number): void;
+export function rawdynamicraycastvehiclecontroller_set_wheel_engine_force(a: number, b: number, c: number): void;
+export function rawdynamicraycastvehiclecontroller_wheel_direction_cs(a: number, b: number): number;
+export function rawdynamicraycastvehiclecontroller_set_wheel_direction_cs(a: number, b: number, c: number): void;
+export function rawdynamicraycastvehiclecontroller_wheel_axle_cs(a: number, b: number): number;
+export function rawdynamicraycastvehiclecontroller_set_wheel_axle_cs(a: number, b: number, c: number): void;
+export function rawdynamicraycastvehiclecontroller_wheel_friction_slip(a: number, b: number, c: number): void;
+export function rawdynamicraycastvehiclecontroller_set_wheel_friction_slip(a: number, b: number, c: number): void;
+export function rawdynamicraycastvehiclecontroller_wheel_side_friction_stiffness(a: number, b: number, c: number): void;
+export function rawdynamicraycastvehiclecontroller_set_wheel_side_friction_stiffness(a: number, b: number, c: number): void;
+export function rawdynamicraycastvehiclecontroller_wheel_rotation(a: number, b: number, c: number): void;
+export function rawdynamicraycastvehiclecontroller_wheel_forward_impulse(a: number, b: number, c: number): void;
+export function rawdynamicraycastvehiclecontroller_wheel_side_impulse(a: number, b: number, c: number): void;
+export function rawdynamicraycastvehiclecontroller_wheel_suspension_force(a: number, b: number, c: number): void;
+export function rawdynamicraycastvehiclecontroller_wheel_contact_normal_ws(a: number, b: number): number;
+export function rawdynamicraycastvehiclecontroller_wheel_contact_point_ws(a: number, b: number): number;
+export function rawdynamicraycastvehiclecontroller_wheel_suspension_length(a: number, b: number, c: number): void;
+export function rawdynamicraycastvehiclecontroller_wheel_hard_point_ws(a: number, b: number): number;
+export function rawdynamicraycastvehiclecontroller_wheel_is_in_contact(a: number, b: number): number;
+export function rawdynamicraycastvehiclecontroller_wheel_ground_object(a: number, b: number, c: number): void;
 export function __wbg_rawccdsolver_free(a: number): void;
@@ -77,18 +128,17 @@ export function rawccdsolver_new(): number;
 export function rawintegrationparameters_dt(a: number): number;
-export function rawintegrationparameters_allowedLinearError(a: number): number;
-export function rawintegrationparameters_predictionDistance(a: number): number;
-export function rawintegrationparameters_maxVelocityIterations(a: number): number;
-export function rawintegrationparameters_maxVelocityFrictionIterations(a: number): number;
-export function rawintegrationparameters_maxStabilizationIterations(a: number): number;
-export function rawintegrationparameters_minIslandSize(a: number): number;
+export function rawintegrationparameters_erp(a: number): number;
+export function rawintegrationparameters_numSolverIterations(a: number): number;
 export function rawintegrationparameters_maxCcdSubsteps(a: number): number;
+export function rawintegrationparameters_lengthUnit(a: number): number;
 export function rawintegrationparameters_set_dt(a: number, b: number): void;
 export function rawintegrationparameters_set_erp(a: number, b: number): void;
-export function rawintegrationparameters_set_allowedLinearError(a: number, b: number): void;
-export function rawintegrationparameters_set_predictionDistance(a: number, b: number): void;
-export function rawintegrationparameters_set_maxVelocityIterations(a: number, b: number): void;
-export function rawintegrationparameters_set_maxVelocityFrictionIterations(a: number, b: number): void;
-export function rawintegrationparameters_set_maxStabilizationIterations(a: number, b: number): void;
+export function rawintegrationparameters_set_normalizedAllowedLinearError(a: number, b: number): void;
+export function rawintegrationparameters_set_normalizedPredictionDistance(a: number, b: number): void;
+export function rawintegrationparameters_set_numSolverIterations(a: number, b: number): void;
 export function rawintegrationparameters_set_minIslandSize(a: number, b: number): void;
 export function rawintegrationparameters_set_maxCcdSubsteps(a: number, b: number): void;
+export function rawintegrationparameters_set_lengthUnit(a: number, b: number): void;
+export function rawintegrationparameters_switchToStandardPgsSolver(a: number): void;
+export function rawintegrationparameters_switchToSmallStepsPgsSolver(a: number): void;
+export function rawintegrationparameters_switchToSmallStepsPgsSolverWithoutWarmstart(a: number): void;
 export function __wbg_rawislandmanager_free(a: number): void;
@@ -98,2 +148,5 @@ export function rawislandmanager_new(): number;
 export function __wbg_rawgenericjoint_free(a: number): void;
+export function rawgenericjoint_generic(a: number, b: number, c: number, d: number): number;
+export function rawgenericjoint_spring(a: number, b: number, c: number, d: number, e: number): number;
+export function rawgenericjoint_rope(a: number, b: number, c: number): number;
 export function rawgenericjoint_spherical(a: number, b: number): number;
@@ -145,2 +198,3 @@ export function rawgenericjoint_prismatic(a: number, b: number, c: number, d: number, e: number, f: number): number;
 export function rawrigidbodyset_rbEnableCcd(a: number, b: number, c: number): void;
+export function rawrigidbodyset_rbSetSoftCcdPrediction(a: number, b: number, c: number): void;
 export function rawrigidbodyset_rbMass(a: number, b: number): number;
@@ -158,2 +212,3 @@ export function rawrigidbodyset_rbInvMass(a: number, b: number): number;
 export function rawrigidbodyset_rbIsCcdEnabled(a: number, b: number): number;
+export function rawrigidbodyset_rbSoftCcdPrediction(a: number, b: number): number;
 export function rawrigidbodyset_rbNumColliders(a: number, b: number): number;
@@ -182,2 +237,4 @@ export function rawrigidbodyset_rbCollider(a: number, b: number, c: number): number;
 export function rawrigidbodyset_rbApplyImpulseAtPoint(a: number, b: number, c: number, d: number, e: number): void;
+export function rawrigidbodyset_rbAdditionalSolverIterations(a: number, b: number): number;
+export function rawrigidbodyset_rbSetAdditionalSolverIterations(a: number, b: number, c: number): void;
 export function rawrigidbodyset_rbUserData(a: number, b: number): number;
@@ -187,5 +244,4 @@ export function rawrigidbodyset_rbSetUserData(a: number, b: number, c: number): void;
 export function rawrigidbodyset_new(): number;
-export function rawrigidbodyset_createRigidBody(a: number, b: number, c: number, d: number, e: number, f: number, g: number, h: number, i: number, j: number, k: number, l: number, m: number, n: number, o: number, p: number, q: number, r: number, s: number, t: number, u: number, v: number, w: number, x: number, y: number): number;
+export function rawrigidbodyset_createRigidBody(a: number, b: number, c: number, d: number, e: number, f: number, g: number, h: number, i: number, j: number, k: number, l: number, m: number, n: number, o: number, p: number, q: number, r: number, s: number, t: number, u: number, v: number, w: number, x: number, y: number, z: number, a1: number): number;
 export function rawrigidbodyset_remove(a: number, b: number, c: number, d: number, e: number, f: number): void;
-export function rawrigidbodyset_len(a: number): number;
 export function rawrigidbodyset_contains(a: number, b: number): number;
@@ -215,2 +271,4 @@ export function rawrigidbodyset_forEachRigidBodyHandle(a: number, b: number): void;
 export function rawcolliderset_coIndices(a: number, b: number, c: number): void;
+export function rawcolliderset_coTriMeshFlags(a: number, b: number, c: number): void;
+export function rawcolliderset_coHeightFieldFlags(a: number, b: number, c: number): void;
 export function rawcolliderset_coHeightfieldHeights(a: number, b: number, c: number): void;
@@ -223,2 +281,4 @@ export function rawcolliderset_coHeightfieldScale(a: number, b: number): number;
 export function rawcolliderset_coIsEnabled(a: number, b: number): number;
+export function rawcolliderset_coSetContactSkin(a: number, b: number, c: number): void;
+export function rawcolliderset_coContactSkin(a: number, b: number): number;
 export function rawcolliderset_coFriction(a: number, b: number): number;
@@ -236,4 +296,4 @@ export function rawcolliderset_coRestitution(a: number, b: number): number;
 export function rawcolliderset_coContainsPoint(a: number, b: number, c: number): number;
-export function rawcolliderset_coCastShape(a: number, b: number, c: number, d: number, e: number, f: number, g: number, h: number, i: number): number;
-export function rawcolliderset_coCastCollider(a: number, b: number, c: number, d: number, e: number, f: number, g: number): number;
+export function rawcolliderset_coCastShape(a: number, b: number, c: number, d: number, e: number, f: number, g: number, h: number, i: number, j: number): number;
+export function rawcolliderset_coCastCollider(a: number, b: number, c: number, d: number, e: number, f: number, g: number, h: number): number;
 export function rawcolliderset_coIntersectsShape(a: number, b: number, c: number, d: number, e: number): number;
@@ -267,12 +327,11 @@ export function rawcolliderset_coContactShape(a: number, b: number, c: number, d: number, e: number, f: number): number;
 export function rawcolliderset_contains(a: number, b: number): number;
-export function rawcolliderset_createCollider(a: number, b: number, c: number, d: number, e: number, f: number, g: number, h: number, i: number, j: number, k: number, l: number, m: number, n: number, o: number, p: number, q: number, r: number, s: number, t: number, u: number, v: number, w: number, x: number, y: number, z: number): void;
+export function rawcolliderset_createCollider(a: number, b: number, c: number, d: number, e: number, f: number, g: number, h: number, i: number, j: number, k: number, l: number, m: number, n: number, o: number, p: number, q: number, r: number, s: number, t: number, u: number, v: number, w: number, x: number, y: number, z: number, a1: number): void;
 export function rawcolliderset_remove(a: number, b: number, c: number, d: number, e: number): void;
 export function rawcolliderset_forEachColliderHandle(a: number, b: number): void;
 export function __wbg_rawshapecontact_free(a: number): void;
-export function rawshapecontact_distance(a: number): number;
 export function __wbg_rawnarrowphase_free(a: number): void;
 export function rawnarrowphase_new(): number;
-export function rawnarrowphase_contacts_with(a: number, b: number, c: number): void;
+export function rawnarrowphase_contact_pairs_with(a: number, b: number, c: number): void;
 export function rawnarrowphase_contact_pair(a: number, b: number, c: number): number;
-export function rawnarrowphase_intersections_with(a: number, b: number, c: number): void;
+export function rawnarrowphase_intersection_pairs_with(a: number, b: number, c: number): void;
 export function rawnarrowphase_intersection_pair(a: number, b: number, c: number): number;
@@ -305,14 +364,12 @@ export function __wbg_rawcontactmanifold_free(a: number): void;
 export function __wbg_rawpointprojection_free(a: number): void;
+export function rawpointprojection_point(a: number): number;
+export function rawpointprojection_isInside(a: number): number;
 export function __wbg_rawpointcolliderprojection_free(a: number): void;
 export function rawpointcolliderprojection_colliderHandle(a: number): number;
+export function rawpointcolliderprojection_point(a: number): number;
+export function rawpointcolliderprojection_isInside(a: number): number;
 export function rawpointcolliderprojection_featureType(a: number): number;
 export function rawpointcolliderprojection_featureId(a: number, b: number): void;
 export function __wbg_rawrayintersection_free(a: number): void;
-export function rawrayintersection_featureType(a: number): number;
-export function rawrayintersection_featureId(a: number, b: number): void;
-export function rawraycolliderintersection_normal(a: number): number;
-export function rawraycolliderintersection_toi(a: number): number;
-export function rawraycolliderintersection_featureType(a: number): number;
-export function rawraycolliderintersection_featureId(a: number, b: number): void;
-export function __wbg_rawraycollidertoi_free(a: number): void;
+export function __wbg_rawraycolliderhit_free(a: number): void;
 export function __wbg_rawshape_free(a: number): void;
@@ -329,4 +386,4 @@ export function rawshape_cuboid(a: number, b: number, c: number): number;
 export function rawshape_polyline(a: number, b: number, c: number, d: number): number;
-export function rawshape_trimesh(a: number, b: number, c: number, d: number): number;
-export function rawshape_heightfield(a: number, b: number, c: number, d: number, e: number): number;
+export function rawshape_trimesh(a: number, b: number, c: number, d: number, e: number): number;
+export function rawshape_heightfield(a: number, b: number, c: number, d: number, e: number, f: number): number;
 export function rawshape_segment(a: number, b: number): number;
@@ -339,3 +396,3 @@ export function rawshape_triangle(a: number, b: number, c: number): number;
 export function rawshape_roundConvexMesh(a: number, b: number, c: number, d: number, e: number): number;
-export function rawshape_castShape(a: number, b: number, c: number, d: number, e: number, f: number, g: number, h: number, i: number, j: number): number;
+export function rawshape_castShape(a: number, b: number, c: number, d: number, e: number, f: number, g: number, h: number, i: number, j: number, k: number): number;
 export function rawshape_intersectsShape(a: number, b: number, c: number, d: number, e: number, f: number): number;
@@ -348,16 +405,17 @@ export function rawshape_contactShape(a: number, b: number, c: number, d: number, e: number, f: number, g: number): number;
 export function rawshape_castRayAndGetNormal(a: number, b: number, c: number, d: number, e: number, f: number, g: number): number;
-export function __wbg_rawshapetoi_free(a: number): void;
-export function rawshapetoi_witness1(a: number): number;
-export function rawshapetoi_normal1(a: number): number;
-export function rawshapetoi_normal2(a: number): number;
-export function __wbg_rawshapecollidertoi_free(a: number): void;
-export function rawshapecollidertoi_witness2(a: number): number;
-export function rawshapecollidertoi_normal2(a: number): number;
+export function __wbg_rawshapecasthit_free(a: number): void;
+export function rawshapecasthit_witness1(a: number): number;
+export function rawshapecasthit_normal1(a: number): number;
+export function rawshapecasthit_normal2(a: number): number;
+export function __wbg_rawcollidershapecasthit_free(a: number): void;
+export function rawcollidershapecasthit_time_of_impact(a: number): number;
+export function rawcollidershapecasthit_witness1(a: number): number;
+export function rawcollidershapecasthit_witness2(a: number): number;
 export function rawrotation_new(a: number, b: number, c: number, d: number): number;
 export function rawrotation_identity(): number;
-export function rawrotation_y(a: number): number;
-export function rawrotation_w(a: number): number;
+export function rawrotation_x(a: number): number;
 export function rawvector_zero(): number;
 export function rawvector_new(a: number, b: number, c: number): number;
-export function rawvector_set_y(a: number, b: number): void;
+export function rawvector_set_x(a: number, b: number): void;
+export function rawvector_set_z(a: number, b: number): void;
 export function rawvector_xyz(a: number): number;
@@ -400,3 +458,3 @@ export function rawvector_yxz(a: number): number;
 export function rawquerypipeline_intersectionsWithPoint(a: number, b: number, c: number, d: number, e: number, f: number, g: number, h: number, i: number, j: number, k: number, l: number, m: number): void;
-export function rawquerypipeline_castShape(a: number, b: number, c: number, d: number, e: number, f: number, g: number, h: number, i: number, j: number, k: number, l: number, m: number, n: number, o: number, p: number, q: number): number;
+export function rawquerypipeline_castShape(a: number, b: number, c: number, d: number, e: number, f: number, g: number, h: number, i: number, j: number, k: number, l: number, m: number, n: number, o: number, p: number, q: number, r: number): number;
 export function rawquerypipeline_intersectionsWithShape(a: number, b: number, c: number, d: number, e: number, f: number, g: number, h: number, i: number, j: number, k: number, l: number, m: number, n: number, o: number): void;
@@ -414,43 +472,54 @@ export function rawquerypipeline_collidersWithAabbIntersectingAabb(a: number, b: number, c: number, d: number): void;
 export function rawdeserializedworld_takeMultibodyJoints(a: number): number;
+export function rawserializationpipeline_new(): number;
 export function rawserializationpipeline_serializeAll(a: number, b: number, c: number, d: number, e: number, f: number, g: number, h: number, i: number, j: number): number;
 export function rawserializationpipeline_deserializeAll(a: number, b: number): number;
-export function __wbg_rawcontactpair_free(a: number): void;
-export function __wbg_rawraycolliderintersection_free(a: number): void;
-export function __wbg_rawrotation_free(a: number): void;
-export function __wbg_rawvector_free(a: number): void;
-export function __wbg_rawsdpmatrix3_free(a: number): void;
-export function rawvector_set_x(a: number, b: number): void;
-export function rawvector_set_z(a: number, b: number): void;
-export function rawpointprojection_isInside(a: number): number;
-export function rawpointcolliderprojection_isInside(a: number): number;
-export function rawcolliderset_isHandleValid(a: number, b: number): number;
+export function rawintegrationparameters_set_numAdditionalFrictionIterations(a: number, b: number): void;
+export function rawintegrationparameters_set_numInternalPgsIterations(a: number, b: number): void;
+export function rawvector_set_y(a: number, b: number): void;
+export function rawkinematiccharactercontroller_up(a: number): number;
+export function rawshapecontact_normal2(a: number): number;
 export function rawshapecontact_point1(a: number): number;
 export function rawshapecontact_point2(a: number): number;
-export function rawshapecontact_normal2(a: number): number;
-export function rawpointprojection_point(a: number): number;
-export function rawpointcolliderprojection_point(a: number): number;
 export function rawrayintersection_normal(a: number): number;
-export function rawshapecollidertoi_witness1(a: number): number;
+export function rawraycolliderintersection_normal(a: number): number;
 export function rawshapecontact_normal1(a: number): number;
-export function rawshapecollidertoi_normal1(a: number): number;
-export function rawshapetoi_witness2(a: number): number;
-export function rawserializationpipeline_new(): number;
-export function rawintegrationparameters_erp(a: number): number;
-export function rawrayintersection_toi(a: number): number;
-export function rawraycollidertoi_toi(a: number): number;
-export function rawshapetoi_toi(a: number): number;
-export function rawshapecollidertoi_toi(a: number): number;
-export function rawrotation_x(a: number): number;
+export function rawcollidershapecasthit_normal1(a: number): number;
+export function rawcollidershapecasthit_normal2(a: number): number;
+export function rawshapecasthit_witness2(a: number): number;
+export function rawkinematiccharactercontroller_offset(a: number): number;
+export function rawintegrationparameters_normalizedAllowedLinearError(a: number): number;
+export function rawintegrationparameters_numAdditionalFrictionIterations(a: number): number;
+export function rawintegrationparameters_numInternalPgsIterations(a: number): number;
+export function rawintegrationparameters_minIslandSize(a: number): number;
+export function rawrigidbodyset_len(a: number): number;
+export function rawshapecontact_distance(a: number): number;
+export function rawrayintersection_featureType(a: number): number;
+export function rawraycolliderintersection_colliderHandle(a: number): number;
+export function rawrayintersection_time_of_impact(a: number): number;
+export function rawraycolliderintersection_featureType(a: number): number;
+export function rawraycolliderhit_colliderHandle(a: number): number;
+export function rawraycolliderintersection_time_of_impact(a: number): number;
+export function rawcollidershapecasthit_colliderHandle(a: number): number;
+export function rawraycolliderhit_timeOfImpact(a: number): number;
+export function rawshapecasthit_time_of_impact(a: number): number;
+export function rawrotation_y(a: number): number;
 export function rawrotation_z(a: number): number;
+export function rawrotation_w(a: number): number;
 export function rawvector_x(a: number): number;
 export function rawvector_y(a: number): number;
 export function rawvector_z(a: number): number;
-export function rawraycolliderintersection_colliderHandle(a: number): number;
-export function rawraycollidertoi_colliderHandle(a: number): number;
-export function rawshapecollidertoi_colliderHandle(a: number): number;
 export function rawcontactforceevent_collider1(a: number): number;
+export function rawintegrationparameters_normalizedPredictionDistance(a: number): number;
+export function rawcolliderset_isHandleValid(a: number, b: number): number;
 export function __wbg_rawserializationpipeline_free(a: number): void;
+export function rawrayintersection_featureId(a: number, b: number): void;
+export function rawraycolliderintersection_featureId(a: number, b: number): void;
+export function __wbg_rawcontactpair_free(a: number): void;
+export function __wbg_rawraycolliderintersection_free(a: number): void;
+export function __wbg_rawrotation_free(a: number): void;
+export function __wbg_rawvector_free(a: number): void;
+export function __wbg_rawsdpmatrix3_free(a: number): void;
 export function __wbindgen_add_to_stack_pointer(a: number): number;
-export function __wbindgen_free(a: number, b: number): void;
-export function __wbindgen_malloc(a: number): number;
+export function __wbindgen_free(a: number, b: number, c: number): void;
+export function __wbindgen_malloc(a: number, b: number): number;
 export function __wbindgen_exn_store(a: number): void;

No alert changes

Improved metrics

Total package byte prevSize

7630142

increased by6.55%

Number of package files

51

increased by2%

Lines of code

30540

increased by8.52%

No dependency changes