@dimforge/rapier3d-compat - npm Package Compare versions

Comparing version 0.0.0-89734ff-20221126 to 0.0.0-98015b1-20240128

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. */
@@ -160,3 +160,3 @@ toi: number;
      * @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.
@@ -168,3 +168,3 @@ * @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;
     /**
@@ -171,0 +171,0 @@ * 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

@@ -27,13 +27,13 @@ import { RawIntegrationParameters } from "../raw";
     /**
-     * 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;
     /**
@@ -51,7 +51,18 @@ * Minimum number of dynamic bodies in each active island (default: `128`).
     set predictionDistance(value: number);
-    set maxVelocityIterations(value: number);
-    set maxVelocityFrictionIterations(value: number);
-    set maxStabilizationIterations(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;
 }

dynamics/rigid_body.d.ts

 import { RawRigidBodySet } from "../raw";
 import { Rotation, Vector } from "../math";
+import { SdpMatrix3 } from "../math";
 import { Collider, ColliderSet } from "../geometry";
@@ -121,2 +122,20 @@ /**
     /**
+     * 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.
@@ -160,3 +179,3 @@ *
     /**
-     * Sets the linear velocity fo this rigid-body.
+     * Sets the linear velocity of this rigid-body.
      *
@@ -235,2 +254,44 @@ * @param vel - The linear velocity to set.
     /**
+     * The inverse mass taking into account translation locking.
+     */
+    effectiveInvMass(): Vector;
+    /**
+     * The inverse of the mass of a rigid-body.
+     *
+     * If this is zero, the rigid-body is assumed to have infinite mass.
+     */
+    invMass(): number;
+    /**
+     * The center of mass of a rigid-body expressed in its local-space.
+     */
+    localCom(): Vector;
+    /**
+     * The world-space center of mass of the rigid-body.
+     */
+    worldCom(): Vector;
+    /**
+     * The inverse of the principal angular inertia of the rigid-body.
+     *
+     * Components set to zero are assumed to be infinite along the corresponding principal axis.
+     */
+    invPrincipalInertiaSqrt(): Vector;
+    /**
+     * The angular inertia along the principal inertia axes of the rigid-body.
+     */
+    principalInertia(): Vector;
+    /**
+     * The principal vectors of the local angular inertia tensor of the rigid-body.
+     */
+    principalInertiaLocalFrame(): Rotation;
+    /**
+     * The square-root of the world-space inverse angular inertia tensor of the rigid-body,
+     * taking into account rotation locking.
+     */
+    effectiveWorldInvInertiaSqrt(): SdpMatrix3;
+    /**
+     * The effective world-space angular inertia (that takes the potential rotation locking into account) of
+     * this rigid-body.
+     */
+    effectiveAngularInertia(): SdpMatrix3;
+    /**
      * Put this rigid body to sleep.
@@ -269,2 +330,12 @@ *
     /**
+     * Sets whether this rigid-body is enabled or not.
+     *
+     * @param enabled - Set to `false` to disable this rigid-body and all its attached colliders.
+     */
+    setEnabled(enabled: boolean): void;
+    /**
+     * Is this rigid-body enabled?
+     */
+    isEnabled(): boolean;
+    /**
      * The status of this rigid-body: static, dynamic, or kinematic.
@@ -276,3 +347,3 @@ */
      */
-    setBodyType(type: RigidBodyType): void;
+    setBodyType(type: RigidBodyType, wakeUp: boolean): void;
     /**
@@ -417,2 +488,3 @@ * Is this rigid-body sleeping?
 export declare class RigidBodyDesc {
+    enabled: boolean;
     translation: Vector;
@@ -441,2 +513,3 @@ rotation: Rotation;
     dominanceGroup: number;
+    additionalSolverIterations: number;
     userData?: unknown;
@@ -486,2 +559,19 @@ 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.
+     * @param enabled − If set to `false` the rigid-body will be disabled at creation.
+     */
+    setEnabled(enabled: boolean): RigidBodyDesc;
+    /**
      * Sets the initial translation of the rigid-body to create.
@@ -488,0 +578,0 @@ *

geometry/collider.d.ts

@@ -106,2 +106,12 @@ import { Rotation, Vector } from "../math";
     /**
+     * Sets whether this collider is enabled or not.
+     *
+     * @param enabled - Set to `false` to disable this collider (its parent rigid-body won’t be disabled automatically by this).
+     */
+    setEnabled(enabled: boolean): void;
+    /**
+     * Is this collider enabled?
+     */
+    isEnabled(): boolean;
+    /**
      * Sets the restitution coefficient of the collider to be created.
@@ -281,2 +291,8 @@ *
     /**
+     * Sets the half-extents of this collider if it is a cuboid shape.
+     *
+     * @param newHalfExtents - desired half extents.
+     */
+    setHalfExtents(newHalfExtents: Vector): void;
+    /**
      * The radius of this collider if it is a ball, cylinder, capsule, or cone shape.
@@ -287,2 +303,8 @@ * @deprecated this field will be removed in the future, please access this field on `shape` member instead.
     /**
+     * Sets the radius of this collider if it is a ball, cylinder, capsule, or cone shape.
+     *
+     * @param newRadius - desired radius.
+     */
+    setRadius(newRadius: number): void;
+    /**
      * The radius of the round edges of this collider if it is a round cylinder.
@@ -293,2 +315,8 @@ * @deprecated this field will be removed in the future, please access this field on `shape` member instead.
     /**
+     * Sets the radius of the round edges of this collider if it has round edges.
+     *
+     * @param newBorderRadius - desired round edge radius.
+     */
+    setRoundRadius(newBorderRadius: number): void;
+    /**
      * The half height of this collider if it is a cylinder, capsule, or cone shape.
@@ -299,2 +327,8 @@ * @deprecated this field will be removed in the future, please access this field on `shape` member instead.
     /**
+     * Sets the half height of this collider if it is a cylinder, capsule, or cone shape.
+     *
+     * @param newHalfheight - desired half height.
+     */
+    setHalfHeight(newHalfheight: number): void;
+    /**
      * If this collider has a triangle mesh, polyline, convex polygon, or convex polyhedron shape,
@@ -434,2 +468,3 @@ * this returns the vertex buffer of said shape.
 export declare class ColliderDesc {
+    enabled: boolean;
     shape: Shape;
@@ -622,2 +657,7 @@ massPropsMode: MassPropsMode;
     /**
+     * Sets whether the created collider will be enabled or disabled.
+     * @param enabled − If set to `false` the collider will be disabled at creation.
+     */
+    setEnabled(enabled: boolean): ColliderDesc;
+    /**
      * Sets the density of the collider being built.
@@ -624,0 +664,0 @@ *

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.

math.d.ts

 import { RawVector, RawRotation } from "./raw";
+import { RawSdpMatrix3 } from "./raw";
 export interface Vector {
@@ -45,1 +46,50 @@ x: number;
 }
+/**
+ * A 3D symmetric-positive-definite matrix.
+ */
+export declare class SdpMatrix3 {
+    /**
+     * Row major list of the upper-triangular part of the symmetric matrix.
+     */
+    elements: Float32Array;
+    /**
+     * Matrix element at row 1, column 1.
+     */
+    get m11(): number;
+    /**
+     * Matrix element at row 1, column 2.
+     */
+    get m12(): number;
+    /**
+     * Matrix element at row 2, column 1.
+     */
+    get m21(): number;
+    /**
+     * Matrix element at row 1, column 3.
+     */
+    get m13(): number;
+    /**
+     * Matrix element at row 3, column 1.
+     */
+    get m31(): number;
+    /**
+     * Matrix element at row 2, column 2.
+     */
+    get m22(): number;
+    /**
+     * Matrix element at row 2, column 3.
+     */
+    get m23(): number;
+    /**
+     * Matrix element at row 3, column 2.
+     */
+    get m32(): number;
+    /**
+     * Matrix element at row 3, column 3.
+     */
+    get m33(): number;
+    constructor(elements: Float32Array);
+}
+export declare class SdpMatrix3Ops {
+    static fromRaw(raw: RawSdpMatrix3): SdpMatrix3;
+}

package.json

@@ -7,3 +7,3 @@ {
   "description": "3-dimensional physics engine in Rust - official JS bindings. Compatibility package with inlined webassembly as base64.",
-  "version": "0.0.0-89734ff-20221126",
+  "version": "0.0.0-98015b1-20240128",
   "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 { IslandManager, RigidBodyHandle, RigidBodySet } from "../dynamics";
+import { RigidBodyHandle, RigidBodySet } from "../dynamics";
 import { Rotation, Vector } from "../math";
@@ -61,3 +61,3 @@ /**
      */
-    update(islands: IslandManager, bodies: RigidBodySet, colliders: ColliderSet): void;
+    update(bodies: RigidBodySet, colliders: ColliderSet): void;
     /**
@@ -64,0 +64,0 @@ * Find the closest intersection between a ray and a set of collider.

pipeline/world.d.ts

@@ -12,2 +12,3 @@ import { RawBroadPhase, RawCCDSolver, RawColliderSet, RawDeserializedWorld, RawIntegrationParameters, RawIslandManager, RawImpulseJointSet, RawMultibodyJointSet, RawNarrowPhase, RawPhysicsPipeline, RawQueryPipeline, RawRigidBodySet, RawSerializationPipeline, RawDebugRenderPipeline } from "../raw";
 import { KinematicCharacterController } from "../control";
+import { DynamicRayCastVehicleController } from "../control";
 /**
@@ -35,2 +36,3 @@ * The physics world.
     characterControllers: Set<KinematicCharacterController>;
+    vehicleControllers: Set<DynamicRayCastVehicleController>;
     /**
@@ -72,2 +74,16 @@ * Release the WASM memory occupied by this physics world.
     /**
+     * Update colliders positions after rigid-bodies moved.
+     *
+     * When a rigid-body moves, the positions of the colliders attached to it need to be updated. This update is
+     * generally automatically done at the beginning and the end of each simulation step with World.step.
+     * If the positions need to be updated without running a simulation step this method can be called manually.
+     */
+    propagateModifiedBodyPositionsToColliders(): void;
+    /**
+     * Ensure subsequent scene queries take into account the collider positions set before this method is called.
+     *
+     * This does not step the physics simulation forward.
+     */
+    updateSceneQueries(): void;
+    /**
      * The current simulation timestep.
@@ -90,7 +106,7 @@ */
     /**
-     * The maximum velocity iterations the velocity-based force constraint solver can make.
+     * The number of solver iterations run by the constraints solver for calculating forces (default: `4`).
      */
-    get maxVelocityIterations(): number;
+    get numSolverIterations(): number;
     /**
-     * Sets the maximum number of velocity iterations (default: 4).
+     * Sets the number of solver iterations run by the constraints solver for calculating forces (default: `4`).
      *
@@ -100,11 +116,11 @@ * The greater this value is, the most rigid and realistic the physics simulation will be.
      *
-     * @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`).
      *
@@ -114,18 +130,22 @@ * 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;
     /**
-     * Creates a new rigid-body from the given rigd-body descriptior.
+     * Creates a new rigid-body from the given rigid-body descriptor.
      *
@@ -148,2 +168,16 @@ * @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.
@@ -374,3 +408,3 @@ *
      */
-    contactsWith(collider1: Collider, f: (collider2: Collider) => void): void;
+    contactPairsWith(collider1: Collider, f: (collider2: Collider) => void): void;
     /**
@@ -380,3 +414,3 @@ * 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;
     /**
@@ -383,0 +417,0 @@ * Iterates through all the contact manifolds between the given pair of colliders.

rapier_wasm3d_bg.wasm.d.ts

@@ -7,5 +7,3 @@ /* 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_setOffset(a: number, b: number): void;
@@ -22,2 +20,3 @@ export function rawkinematiccharactercontroller_slideEnabled(a: number): number;
 export function rawkinematiccharactercontroller_setMaxSlopeClimbAngle(a: number, b: number): void;
+export function rawkinematiccharactercontroller_minSlopeSlideAngle(a: number): number;
 export function rawkinematiccharactercontroller_setMinSlopeSlideAngle(a: number, b: number): void;
@@ -36,4 +35,4 @@ export function rawkinematiccharactercontroller_snapToGroundDistance(a: number, b: number): void;
 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 +43,53 @@ 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;
@@ -78,9 +128,5 @@ export function rawccdsolver_new(): number;
 export function rawintegrationparameters_erp(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_maxCcdSubsteps(a: number): number;
+export function rawintegrationparameters_numSolverIterations(a: number): number;
+export function rawintegrationparameters_numAdditionalFrictionIterations(a: number): number;
+export function rawintegrationparameters_numInternalPgsIterations(a: number): number;
 export function rawintegrationparameters_set_dt(a: number, b: number): void;
@@ -90,7 +136,7 @@ export function rawintegrationparameters_set_erp(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_minIslandSize(a: number, b: number): void;
-export function rawintegrationparameters_set_maxCcdSubsteps(a: number, b: number): void;
+export function rawintegrationparameters_set_numSolverIterations(a: number, b: number): void;
+export function rawintegrationparameters_set_numAdditionalFrictionIterations(a: number, b: number): void;
+export function rawintegrationparameters_set_numInternalPgsIterations(a: number, b: number): void;
+export function rawintegrationparameters_switchToStandardPgsSolver(a: number): void;
+export function rawintegrationparameters_switchToSmallStepsPgsSolver(a: number): void;
 export function __wbg_rawislandmanager_free(a: number): void;
@@ -100,2 +146,5 @@ 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;
@@ -148,2 +197,11 @@ export function rawgenericjoint_prismatic(a: number, b: number, c: number, d: number, e: number, f: number): number;
 export function rawrigidbodyset_rbMass(a: number, b: number): number;
+export function rawrigidbodyset_rbInvMass(a: number, b: number): number;
+export function rawrigidbodyset_rbEffectiveInvMass(a: number, b: number): number;
+export function rawrigidbodyset_rbLocalCom(a: number, b: number): number;
+export function rawrigidbodyset_rbWorldCom(a: number, b: number): number;
+export function rawrigidbodyset_rbInvPrincipalInertiaSqrt(a: number, b: number): number;
+export function rawrigidbodyset_rbPrincipalInertiaLocalFrame(a: number, b: number): number;
+export function rawrigidbodyset_rbPrincipalInertia(a: number, b: number): number;
+export function rawrigidbodyset_rbEffectiveWorldInvInertiaSqrt(a: number, b: number): number;
+export function rawrigidbodyset_rbEffectiveAngularInertia(a: number, b: number): number;
 export function rawrigidbodyset_rbWakeUp(a: number, b: number): void;
@@ -154,3 +212,3 @@ export function rawrigidbodyset_rbIsCcdEnabled(a: number, b: number): number;
 export function rawrigidbodyset_rbBodyType(a: number, b: number): number;
-export function rawrigidbodyset_rbSetBodyType(a: number, b: number, c: number): void;
+export function rawrigidbodyset_rbSetBodyType(a: number, b: number, c: number, d: number): void;
 export function rawrigidbodyset_rbIsFixed(a: number, b: number): number;
@@ -163,2 +221,4 @@ export function rawrigidbodyset_rbIsKinematic(a: number, b: number): number;
 export function rawrigidbodyset_rbSetAngularDamping(a: number, b: number, c: number): void;
+export function rawrigidbodyset_rbSetEnabled(a: number, b: number, c: number): void;
+export function rawrigidbodyset_rbIsEnabled(a: number, b: number): number;
 export function rawrigidbodyset_rbGravityScale(a: number, b: number): number;
@@ -174,2 +234,4 @@ export function rawrigidbodyset_rbSetGravityScale(a: number, b: number, c: number, d: number): void;
 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;
@@ -179,7 +241,7 @@ 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): 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): 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;
 export function rawrigidbodyset_forEachRigidBodyHandle(a: number, b: number): void;
+export function rawrigidbodyset_propagateModifiedBodyPositionsToColliders(a: number, b: number): void;
 export function __wbg_rawbroadphase_free(a: number): void;
@@ -197,5 +259,9 @@ export function rawbroadphase_new(): number;
 export function rawcolliderset_coHalfExtents(a: number, b: number): number;
+export function rawcolliderset_coSetHalfExtents(a: number, b: number, c: number): void;
 export function rawcolliderset_coRadius(a: number, b: number, c: number): void;
+export function rawcolliderset_coSetRadius(a: number, b: number, c: number): void;
 export function rawcolliderset_coHalfHeight(a: number, b: number, c: number): void;
+export function rawcolliderset_coSetHalfHeight(a: number, b: number, c: number): void;
 export function rawcolliderset_coRoundRadius(a: number, b: number, c: number): void;
+export function rawcolliderset_coSetRoundRadius(a: number, b: number, c: number): void;
 export function rawcolliderset_coVertices(a: number, b: number, c: number): void;
@@ -208,2 +274,4 @@ export function rawcolliderset_coIndices(a: number, b: number, c: number): void;
 export function rawcolliderset_coParent(a: number, b: number, c: number): void;
+export function rawcolliderset_coSetEnabled(a: number, b: number, c: number): void;
+export function rawcolliderset_coIsEnabled(a: number, b: number): number;
 export function rawcolliderset_coFriction(a: number, b: number): number;
@@ -251,12 +319,11 @@ export function rawcolliderset_coRestitution(a: number, b: 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): 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): 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;
@@ -289,4 +356,6 @@ 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;
@@ -297,6 +366,4 @@ export function rawpointcolliderprojection_isInside(a: number): number;
 export function __wbg_rawrayintersection_free(a: number): void;
-export function rawrayintersection_normal(a: number): number;
-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 __wbg_rawraycollidertoi_free(a: number): void;
@@ -331,3 +398,3 @@ export function __wbg_rawshape_free(a: number): void;
 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;
@@ -339,7 +406,7 @@ export function rawshapetoi_normal2(a: 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;
@@ -351,2 +418,3 @@ export function rawvector_yxz(a: number): number;
 export function rawvector_zyx(a: number): number;
+export function rawsdpmatrix3_elements(a: number): number;
 export function __wbg_rawdebugrenderpipeline_free(a: number): void;
@@ -372,4 +440,5 @@ export function rawdebugrenderpipeline_new(): number;
 export function rawphysicspipeline_stepWithEvents(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;
+export function __wbg_rawquerypipeline_free(a: number): void;
 export function rawquerypipeline_new(): number;
-export function rawquerypipeline_update(a: number, b: number, c: number, d: number): void;
+export function rawquerypipeline_update(a: number, b: number, c: number): void;
 export function rawquerypipeline_castRay(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): number;
@@ -395,16 +464,13 @@ export function rawquerypipeline_castRayAndGetNormal(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): number;
 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 rawvector_set_x(a: number, b: number): void;
-export function rawvector_set_z(a: number, b: number): void;
-export function rawcolliderset_isHandleValid(a: number, b: number): number;
+export function rawintegrationparameters_set_minIslandSize(a: number, b: number): void;
+export function rawintegrationparameters_set_maxCcdSubsteps(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_normal2(a: number): number;
-export function rawpointprojection_point(a: number): number;
 export function rawshapecontact_point2(a: number): number;
-export function rawshapetoi_witness1(a: number): number;
+export function rawrayintersection_normal(a: number): number;
 export function rawshapecollidertoi_witness1(a: number): number;
@@ -415,26 +481,38 @@ export function rawshapecontact_normal1(a: number): number;
 export function rawshapetoi_witness2(a: number): number;
-export function rawraycolliderintersection_featureId(a: number, b: number): void;
-export function rawserializationpipeline_new(): number;
+export function rawkinematiccharactercontroller_offset(a: number): number;
+export function rawintegrationparameters_predictionDistance(a: number): number;
+export function rawintegrationparameters_minIslandSize(a: number): number;
+export function rawintegrationparameters_maxCcdSubsteps(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_toi(a: number): number;
-export function rawraycolliderintersection_toi(a: number): number;
 export function rawraycolliderintersection_featureType(a: number): number;
+export function rawraycollidertoi_colliderHandle(a: number): number;
 export function rawraycollidertoi_toi(a: number): number;
+export function rawshapecollidertoi_colliderHandle(a: number): number;
+export function rawshapecollidertoi_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 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 rawkinematiccharactercontroller_minSlopeSlideAngle(a: number): number;
-export function __wbg_rawquerypipeline_free(a: number): void;
-export function rawpointcolliderprojection_colliderHandle(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_allowedLinearError(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_rawshapetoi_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

7520585

increased by4.11%

Lines of code

30027

increased by9.1%

No dependency changes