@dimforge/rapier3d-compat - npm Package Compare versions

Comparing version 0.0.0-b0953bc-20220604 to 0.0.0-b654cd5-20220809

dynamics/impulse_joint.d.ts

@@ -65,3 +65,3 @@ import { Rotation, Vector } from "../math";
      *
-     * The first anchor gives the position of the points application point on the
+     * The first anchor gives the position of the application point on the
      * local frame of the first rigid-body it is attached to.
@@ -73,6 +73,30 @@ */
      *
-     * The second anchor gives the position of the points application point on the
+     * The second anchor gives the position of the application point on the
      * local frame of the second rigid-body it is attached to.
      */
     anchor2(): Vector;
+    /**
+     * Sets the position of the first anchor of this joint.
+     *
+     * The first anchor gives the position of the application point on the
+     * local frame of the first rigid-body it is attached to.
+     */
+    setAnchor1(newPos: Vector): void;
+    /**
+     * Sets the position of the second anchor of this joint.
+     *
+     * The second anchor gives the position of the application point on the
+     * local frame of the second rigid-body it is attached to.
+     */
+    setAnchor2(newPos: Vector): void;
+    /**
+     * Controls whether contacts are computed between colliders attached
+     * to the rigid-bodies linked by this joint.
+     */
+    setContactsEnabled(enabled: boolean): void;
+    /**
+     * Indicates if contacts are enabled between colliders attached
+     * to the rigid-bodies linked by this joint.
+     */
+    contactsEnabled(): boolean;
 }
@@ -96,2 +120,9 @@ export declare class UnitImpulseJoint extends ImpulseJoint {
     limitsMax(): number;
+    /**
+     * Sets the limits of this joint.
+     *
+     * @param min - The minimum bound of this joint’s free coordinate.
+     * @param max - The maximum bound of this joint’s free coordinate.
+     */
+    setLimits(min: number, max: number): void;
     configureMotorModel(model: MotorModel): void;
@@ -98,0 +129,0 @@ configureMotorVelocity(targetVel: number, factor: number): void;

dynamics/multibody_joint.d.ts

@@ -16,2 +16,12 @@ import { RawJointAxis, RawMultibodyJointSet } from "../raw";
     isValid(): boolean;
+    /**
+     * Controls whether contacts are computed between colliders attached
+     * to the rigid-bodies linked by this joint.
+     */
+    setContactsEnabled(enabled: boolean): void;
+    /**
+     * Indicates if contacts are enabled between colliders attached
+     * to the rigid-bodies linked by this joint.
+     */
+    contactsEnabled(): boolean;
 }
@@ -18,0 +28,0 @@ export declare class UnitMultibodyJoint extends MultibodyJoint {

dynamics/rigid_body.d.ts

@@ -80,2 +80,12 @@ import { RawRigidBodySet } from "../raw";
      */
+    setEnabledTranslations(enableX: boolean, enableY: boolean, enableZ: boolean, wakeUp: boolean): void;
+    /**
+     * Locks or unlocks the ability of this rigid-body to translate along individual coordinate axes.
+     *
+     * @param enableX - If `false`, this rigid-body will no longer translate due to torques and impulses, along the X coordinate axis.
+     * @param enableY - If `false`, this rigid-body will no longer translate due to torques and impulses, along the Y coordinate axis.
+     * @param enableZ - If `false`, this rigid-body will no longer translate due to torques and impulses, along the Z coordinate axis.
+     * @param wakeUp - If `true`, this rigid-body will be automatically awaken if it is currently asleep.
+     * @deprecated use `this.setEnabledTranslations` with the same arguments instead.
+     */
     restrictTranslations(enableX: boolean, enableY: boolean, enableZ: boolean, wakeUp: boolean): void;
@@ -90,2 +100,12 @@ /**
      */
+    setEnabledRotations(enableX: boolean, enableY: boolean, enableZ: boolean, wakeUp: boolean): void;
+    /**
+     * Locks or unlocks the ability of this rigid-body to rotate along individual coordinate axes.
+     *
+     * @param enableX - If `false`, this rigid-body will no longer rotate due to torques and impulses, along the X coordinate axis.
+     * @param enableY - If `false`, this rigid-body will no longer rotate due to torques and impulses, along the Y coordinate axis.
+     * @param enableZ - If `false`, this rigid-body will no longer rotate due to torques and impulses, along the Z coordinate axis.
+     * @param wakeUp - If `true`, this rigid-body will be automatically awaken if it is currently asleep.
+     * @deprecated use `this.setEnabledRotations` with the same arguments instead.
+     */
     restrictRotations(enableX: boolean, enableY: boolean, enableZ: boolean, wakeUp: boolean): void;
@@ -290,2 +310,43 @@ /**
     /**
+     * Recompute the mass-properties of this rigid-bodies based on its currently attached colliders.
+     */
+    recomputeMassPropertiesFromColliders(): void;
+    /**
+     * Sets the rigid-body's additional mass.
+     *
+     * The total angular inertia of the rigid-body will be scaled automatically based on this additional mass. If this
+     * scaling effect isn’t desired, use Self::additional_mass_properties instead of this method.
+     *
+     * This is only the "additional" mass because the total mass of the rigid-body is equal to the sum of this
+     * additional mass and the mass computed from the colliders (with non-zero densities) attached to this rigid-body.
+     *
+     * That total mass (which includes the attached colliders’ contributions) will be updated at the name physics step,
+     * or can be updated manually with `this.recomputeMassPropertiesFromColliders`.
+     *
+     * This will override any previous additional mass-properties set by `this.setAdditionalMass`,
+     * `this.setAdditionalMassProperties`, `RigidBodyDesc::setAdditionalMass`, or
+     * `RigidBodyDesc.setAdditionalMassfProperties` for this rigid-body.
+     *
+     * @param mass - The additional mass to set.
+     * @param wakeUp - If `true` then the rigid-body will be woken up if it was put to sleep because it did not move for a while.
+     */
+    setAdditionalMass(mass: number, wakeUp: boolean): void;
+    /**
+     * Sets the rigid-body's additional mass-properties.
+     *
+     * This is only the "additional" mass-properties because the total mass-properties of the rigid-body is equal to the
+     * sum of this additional mass-properties and the mass computed from the colliders (with non-zero densities) attached
+     * to this rigid-body.
+     *
+     * That total mass-properties (which include the attached colliders’ contributions) will be updated at the name
+     * physics step, or can be updated manually with `this.recomputeMassPropertiesFromColliders`.
+     *
+     * This will override any previous mass-properties set by `this.setAdditionalMass`,
+     * `this.setAdditionalMassProperties`, `RigidBodyDesc.setAdditionalMass`, or `RigidBodyDesc.setAdditionalMassProperties`
+     * for this rigid-body.
+     *
+     * If `wake_up` is true then the rigid-body will be woken up if it was put to sleep because it did not move for a while.
+     */
+    setAdditionalMassProperties(mass: number, centerOfMass: Vector, principalAngularInertia: Vector, angularInertiaLocalFrame: Rotation, wakeUp: boolean): void;
+    /**
      * Sets the linear damping factor applied to this rigid-body.
@@ -358,2 +419,3 @@ *
     mass: number;
+    massOnly: boolean;
     centerOfMass: Vector;
@@ -481,7 +543,8 @@ translationsEnabledX: boolean;
     /**
-     * Sets the mass properties of the rigid-body being built.
-     *
-     * @param principalAngularInertia − The initial principal angular inertia of the rigid-body to create.
+     * Allow translation of this rigid-body only along specific axes.
+     * @param translationsEnabledX - Are translations along the X axis enabled?
+     * @param translationsEnabledY - Are translations along the y axis enabled?
+     * @param translationsEnabledZ - Are translations along the Z axis enabled?
      */
-    setAdditionalPrincipalAngularInertia(principalAngularInertia: Vector): RigidBodyDesc;
+    enabledTranslations(translationsEnabledX: boolean, translationsEnabledY: boolean, translationsEnabledZ: boolean): RigidBodyDesc;
     /**
@@ -492,2 +555,3 @@ * Allow translation of this rigid-body only along specific axes.
      * @param translationsEnabledZ - Are translations along the Z axis enabled?
+     * @deprecated use `this.enabledTranslations` with the same arguments instead.
      */
@@ -506,2 +570,10 @@ restrictTranslations(translationsEnabledX: boolean, translationsEnabledY: boolean, translationsEnabledZ: boolean): RigidBodyDesc;
      */
+    enabledRotations(rotationsEnabledX: boolean, rotationsEnabledY: boolean, rotationsEnabledZ: boolean): RigidBodyDesc;
+    /**
+     * Allow rotation of this rigid-body only along specific axes.
+     * @param rotationsEnabledX - Are rotations along the X axis enabled?
+     * @param rotationsEnabledY - Are rotations along the y axis enabled?
+     * @param rotationsEnabledZ - Are rotations along the Z axis enabled?
+     * @deprecated use `this.enabledRotations` with the same arguments instead.
+     */
     restrictRotations(rotationsEnabledX: boolean, rotationsEnabledY: boolean, rotationsEnabledZ: boolean): RigidBodyDesc;
@@ -508,0 +580,0 @@ /**

geometry/collider.d.ts

@@ -11,10 +11,46 @@ import { Rotation, Vector } from "../math";
 import { ColliderSet } from "./collider_set";
+/**
+ * Flags affecting whether collision-detection happens between two colliders
+ * depending on the type of rigid-bodies they are attached to.
+ */
 export declare enum ActiveCollisionTypes {
+    /**
+     * Enable collision-detection between a collider attached to a dynamic body
+     * and another collider attached to a dynamic body.
+     */
     DYNAMIC_DYNAMIC = 1,
+    /**
+     * Enable collision-detection between a collider attached to a dynamic body
+     * and another collider attached to a kinematic body.
+     */
     DYNAMIC_KINEMATIC = 12,
+    /**
+     * Enable collision-detection between a collider attached to a dynamic body
+     * and another collider attached to a fixed body (or not attached to any body).
+     */
     DYNAMIC_FIXED = 2,
+    /**
+     * Enable collision-detection between a collider attached to a kinematic body
+     * and another collider attached to a kinematic body.
+     */
     KINEMATIC_KINEMATIC = 52224,
+    /**
+     * Enable collision-detection between a collider attached to a kinematic body
+     * and another collider attached to a fixed body (or not attached to any body).
+     */
     KINEMATIC_FIXED = 8704,
+    /**
+     * Enable collision-detection between a collider attached to a fixed body (or
+     * not attached to any body) and another collider attached to a fixed body (or
+     * not attached to any body).
+     */
     FIXED_FIXED = 32,
+    /**
+     * The default active collision types, enabling collisions between a dynamic body
+     * and another body of any type, but not enabling collisions between two non-dynamic bodies.
+     */
     DEFAULT = 15,
+    /**
+     * Enable collisions between any kind of rigid-bodies (including between two non-dynamic bodies).
+     */
     ALL = 60943
@@ -158,2 +194,12 @@ }
     /**
+     * Sets the total force magnitude beyond which a contact force event can be emitted.
+     *
+     * @param threshold - The new force threshold.
+     */
+    setContactForceEventThreshold(threshold: number): void;
+    /**
+     * The total force magnitude beyond which a contact force event can be emitted.
+     */
+    contactForceEventThreshold(): number;
+    /**
      * Set the collision types active for this collider.
@@ -165,2 +211,32 @@ *
     /**
+     * Sets the uniform density of this collider.
+     *
+     * This will override any previous mass-properties set by `this.setDensity`,
+     * `this.setMass`, `this.setMassProperties`, `ColliderDesc.density`,
+     * `ColliderDesc.mass`, or `ColliderDesc.massProperties` for this collider.
+     *
+     * The mass and angular inertia of this collider will be computed automatically based on its
+     * shape.
+     */
+    setDensity(density: number): void;
+    /**
+     * Sets the mass of this collider.
+     *
+     * This will override any previous mass-properties set by `this.setDensity`,
+     * `this.setMass`, `this.setMassProperties`, `ColliderDesc.density`,
+     * `ColliderDesc.mass`, or `ColliderDesc.massProperties` for this collider.
+     *
+     * The angular inertia of this collider will be computed automatically based on its shape
+     * and this mass value.
+     */
+    setMass(mass: number): void;
+    /**
+     * Sets the mass of this collider.
+     *
+     * This will override any previous mass-properties set by `this.setDensity`,
+     * `this.setMass`, `this.setMassProperties`, `ColliderDesc.density`,
+     * `ColliderDesc.mass`, or `ColliderDesc.massProperties` for this collider.
+     */
+    setMassProperties(mass: number, centerOfMass: Vector, principalAngularInertia: Vector, angularInertiaLocalFrame: Rotation): void;
+    /**
      * Sets the translation of this collider.
@@ -275,2 +351,10 @@ *
     /**
+     * The mass of this collider.
+     */
+    mass(): number;
+    /**
+     * The volume of this collider.
+     */
+    volume(): number;
+    /**
      * The collision groups of this collider.
@@ -343,5 +427,10 @@ */
 }
+export declare enum MassPropsMode {
+    Density = 0,
+    Mass = 1,
+    MassProps = 2
+}
 export declare class ColliderDesc {
     shape: Shape;
-    useMassProps: boolean;
+    massPropsMode: MassPropsMode;
     mass: number;
@@ -364,2 +453,3 @@ centerOfMass: Vector;
     activeCollisionTypes: ActiveCollisionTypes;
+    contactForceEventThreshold: number;
     /**
@@ -528,8 +618,10 @@ * Initializes a collider descriptor from the collision shape.
      *
-     * @param is - Set to `true` of the collider built is to be a sensor.
+     * @param sensor - Set to `true` of the collider built is to be a sensor.
      */
-    setSensor(is: boolean): ColliderDesc;
+    setSensor(sensor: boolean): ColliderDesc;
     /**
      * Sets the density of the collider being built.
      *
+     * The mass and angular inertia tensor will be computed automatically based on this density and the collider’s shape.
+     *
      * @param density - The density to set, must be greater or equal to 0. A density of 0 means that this collider
@@ -540,2 +632,10 @@ *                  will not affect the mass or angular inertia of the rigid-body it is attached to.
     /**
+     * Sets the mass of the collider being built.
+     *
+     * The angular inertia tensor will be computed automatically based on this mass and the collider’s shape.
+     *
+     * @param mass - The mass to set, must be greater or equal to 0.
+     */
+    setMass(mass: number): ColliderDesc;
+    /**
      * Sets the mass properties of the collider being built.
@@ -625,2 +725,8 @@ *
     setActiveCollisionTypes(activeCollisionTypes: ActiveCollisionTypes): ColliderDesc;
+    /**
+     * Sets the total force magnitude beyond which a contact force event can be emitted.
+     *
+     * @param threshold - The force threshold to set.
+     */
+    setContactForceEventThreshold(threshold: number): ColliderDesc;
 }

math.d.ts

@@ -21,2 +21,3 @@ import { RawVector, RawRotation } from "./raw";
     static fromRaw(raw: RawVector): Vector;
+    static copy(out: Vector, input: Vector): void;
 }
@@ -43,2 +44,3 @@ export interface Rotation {
     static intoRaw(rot: Rotation): RawRotation;
+    static copy(out: Rotation, input: Rotation): void;
 }

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-b0953bc-20220604",
+  "version": "0.0.0-b654cd5-20220809",
   "license": "Apache-2.0",
@@ -10,0 +10,0 @@ "repository": {

pipeline/event_queue.d.ts

@@ -1,7 +0,57 @@
-import { RawEventQueue } from "../raw";
+import { RawContactForceEvent, RawEventQueue } from "../raw";
 import { ColliderHandle } from "../geometry";
+import { Vector } from "../math";
+/**
+ * Flags indicating what events are enabled for colliders.
+ */
 export declare enum ActiveEvents {
-    COLLISION_EVENTS = 1
+    /**
+     * Enable collision events.
+     */
+    COLLISION_EVENTS = 1,
+    /**
+     * Enable contact force events.
+     */
+    CONTACT_FORCE_EVENTS = 2
 }
 /**
+ * Event occurring when the sum of the magnitudes of the
+ * contact forces between two colliders exceed a threshold.
+ *
+ * This object should **not** be stored anywhere. Its properties can only be
+ * read from within the closure given to `EventHandler.drainContactForceEvents`.
+ */
+export declare class TempContactForceEvent {
+    raw: RawContactForceEvent;
+    free(): void;
+    /**
+     * The first collider involved in the contact.
+     */
+    collider1(): ColliderHandle;
+    /**
+     * The second collider involved in the contact.
+     */
+    collider2(): ColliderHandle;
+    /**
+     * The sum of all the forces between the two colliders.
+     */
+    totalForce(): Vector;
+    /**
+     * The sum of the magnitudes of each force between the two colliders.
+     *
+     * Note that this is **not** the same as the magnitude of `self.total_force`.
+     * Here we are summing the magnitude of all the forces, instead of taking
+     * the magnitude of their sum.
+     */
+    totalForceMagnitude(): number;
+    /**
+     * The world-space (unit) direction of the force with strongest magnitude.
+     */
+    maxForceDirection(): Vector;
+    /**
+     * The magnitude of the largest force at a contact point of this contact pair.
+     */
+    maxForceMagnitude(): number;
+}
+/**
  * A structure responsible for collecting events generated
@@ -39,2 +89,10 @@ * by the physics engine.
     /**
+     * Applies the given javascript closure on each contact force event of this collector, then clear
+     * the internal collision event buffer.
+     *
+     * @param f - JavaScript closure applied to each collision event. The
+     *            closure must take one `TempContactForceEvent` argument.
+     */
+    drainContactForceEvents(f: (event: TempContactForceEvent) => void): void;
+    /**
      * Removes all events contained by this collector
@@ -41,0 +99,0 @@ */

pipeline/index.d.ts

@@ -7,1 +7,2 @@ export * from "./world";
 export * from "./debug_render_pipeline";
+export * from "./query_pipeline";

pipeline/query_pipeline.d.ts

 import { RawQueryPipeline } from "../raw";
 import { ColliderHandle, ColliderSet, InteractionGroups, PointColliderProjection, Ray, RayColliderIntersection, RayColliderToi, Shape, ShapeColliderTOI } from "../geometry";
-import { IslandManager, RigidBodySet } from "../dynamics";
+import { IslandManager, RigidBodyHandle, RigidBodySet } from "../dynamics";
 import { Rotation, Vector } from "../math";
 /**
+ * Flags for excluding whole sets of colliders from a scene query.
+ */
+export declare enum QueryFilterFlags {
+    /**
+     * Exclude from the query any collider attached to a fixed rigid-body and colliders with no rigid-body attached.
+     */
+    EXCLUDE_FIXED = 1,
+    /**
+     * Exclude from the query any collider attached to a dynamic rigid-body.
+     */
+    EXCLUDE_KINEMATIC = 2,
+    /**
+     * Exclude from the query any collider attached to a kinematic rigid-body.
+     */
+    EXCLUDE_DYNAMIC = 4,
+    /**
+     * Exclude from the query any collider that is a sensor.
+     */
+    EXCLUDE_SENSORS = 8,
+    /**
+     * Exclude from the query any collider that is not a sensor.
+     */
+    EXCLUDE_SOLIDS = 16,
+    /**
+     * Excludes all colliders not attached to a dynamic rigid-body.
+     */
+    ONLY_DYNAMIC = 3,
+    /**
+     * Excludes all colliders not attached to a kinematic rigid-body.
+     */
+    ONLY_KINEMATIC = 5,
+    /**
+     * Exclude all colliders attached to a non-fixed rigid-body
+     * (this will not exclude colliders not attached to any rigid-body).
+     */
+    ONLY_FIXED = 6
+}
+/**
  * A pipeline for performing queries on all the colliders of a scene.
@@ -37,3 +75,3 @@ *
      */
-    castRay(colliders: ColliderSet, ray: Ray, maxToi: number, solid: boolean, groups: InteractionGroups, filter?: (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): RayColliderToi | null;
     /**
@@ -52,3 +90,3 @@ * Find the closest intersection between a ray and a set of collider.
      */
-    castRayAndGetNormal(colliders: ColliderSet, ray: Ray, maxToi: number, solid: boolean, groups: InteractionGroups, filter?: (collider: ColliderHandle) => boolean): RayColliderIntersection | null;
+    castRayAndGetNormal(bodies: RigidBodySet, colliders: ColliderSet, ray: Ray, maxToi: number, solid: boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: ColliderHandle, filterExcludeRigidBody?: RigidBodyHandle, filterPredicate?: (collider: ColliderHandle) => boolean): RayColliderIntersection | null;
     /**
@@ -68,3 +106,3 @@ * Cast a ray and collects all the intersections between a ray and the scene.
      */
-    intersectionsWithRay(colliders: ColliderSet, ray: Ray, maxToi: number, solid: boolean, groups: InteractionGroups, callback: (intersect: RayColliderIntersection) => boolean, filter?: (collider: ColliderHandle) => boolean): void;
+    intersectionsWithRay(bodies: RigidBodySet, colliders: ColliderSet, ray: Ray, maxToi: number, solid: boolean, callback: (intersect: RayColliderIntersection) => boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: ColliderHandle, filterExcludeRigidBody?: RigidBodyHandle, filterPredicate?: (collider: ColliderHandle) => boolean): void;
     /**
@@ -80,3 +118,3 @@ * Gets the handle of up to one collider intersecting the given shape.
      */
-    intersectionWithShape(colliders: ColliderSet, shapePos: Vector, shapeRot: Rotation, shape: Shape, groups: InteractionGroups, filter?: (collider: ColliderHandle) => boolean): ColliderHandle | null;
+    intersectionWithShape(bodies: RigidBodySet, colliders: ColliderSet, shapePos: Vector, shapeRot: Rotation, shape: Shape, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: ColliderHandle, filterExcludeRigidBody?: RigidBodyHandle, filterPredicate?: (collider: ColliderHandle) => boolean): ColliderHandle | null;
     /**
@@ -95,3 +133,3 @@ * Find the projection of a point on the closest collider.
      */
-    projectPoint(colliders: ColliderSet, point: Vector, solid: boolean, groups: InteractionGroups, filter?: (collider: ColliderHandle) => boolean): PointColliderProjection | null;
+    projectPoint(bodies: RigidBodySet, colliders: ColliderSet, point: Vector, solid: boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: ColliderHandle, filterExcludeRigidBody?: RigidBodyHandle, filterPredicate?: (collider: ColliderHandle) => boolean): PointColliderProjection | null;
     /**
@@ -105,3 +143,3 @@ * Find the projection of a point on the closest collider.
      */
-    projectPointAndGetFeature(colliders: ColliderSet, point: Vector, groups: InteractionGroups): PointColliderProjection | null;
+    projectPointAndGetFeature(bodies: RigidBodySet, colliders: ColliderSet, point: Vector, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: ColliderHandle, filterExcludeRigidBody?: RigidBodyHandle, filterPredicate?: (collider: ColliderHandle) => boolean): PointColliderProjection | null;
     /**
@@ -117,3 +155,3 @@ * Find all the colliders containing the given point.
      */
-    intersectionsWithPoint(colliders: ColliderSet, point: Vector, groups: InteractionGroups, callback: (handle: ColliderHandle) => boolean, filter?: (collider: ColliderHandle) => boolean): void;
+    intersectionsWithPoint(bodies: RigidBodySet, colliders: ColliderSet, point: Vector, callback: (handle: ColliderHandle) => boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: ColliderHandle, filterExcludeRigidBody?: RigidBodyHandle, filterPredicate?: (collider: ColliderHandle) => boolean): void;
     /**
@@ -134,3 +172,3 @@ * Casts a shape at a constant linear velocity and retrieve the first collider it hits.
      */
-    castShape(colliders: ColliderSet, shapePos: Vector, shapeRot: Rotation, shapeVel: Vector, shape: Shape, maxToi: number, groups: InteractionGroups, filter?: (collider: ColliderHandle) => boolean): ShapeColliderTOI | null;
+    castShape(bodies: RigidBodySet, colliders: ColliderSet, shapePos: Vector, shapeRot: Rotation, shapeVel: Vector, shape: Shape, maxToi: number, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: ColliderHandle, filterExcludeRigidBody?: RigidBodyHandle, filterPredicate?: (collider: ColliderHandle) => boolean): ShapeColliderTOI | null;
     /**
@@ -147,3 +185,3 @@ * Retrieve all the colliders intersecting the given shape.
      */
-    intersectionsWithShape(colliders: ColliderSet, shapePos: Vector, shapeRot: Rotation, shape: Shape, groups: InteractionGroups, callback: (handle: ColliderHandle) => boolean, filter?: (collider: ColliderHandle) => boolean): void;
+    intersectionsWithShape(bodies: RigidBodySet, colliders: ColliderSet, shapePos: Vector, shapeRot: Rotation, shape: Shape, callback: (handle: ColliderHandle) => boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: ColliderHandle, filterExcludeRigidBody?: RigidBodyHandle, filterPredicate?: (collider: ColliderHandle) => boolean): void;
     /**
@@ -150,0 +188,0 @@ * Finds the handles of all the colliders with an AABB intersecting the given AABB.

pipeline/world.d.ts

@@ -6,3 +6,3 @@ import { RawBroadPhase, RawCCDSolver, RawColliderSet, RawDeserializedWorld, RawIntegrationParameters, RawIslandManager, RawImpulseJointSet, RawMultibodyJointSet, RawNarrowPhase, RawPhysicsPipeline, RawQueryPipeline, RawRigidBodySet, RawSerializationPipeline, RawDebugRenderPipeline } from "../raw";
 import { PhysicsPipeline } from "./physics_pipeline";
-import { QueryPipeline } from "./query_pipeline";
+import { QueryFilterFlags, QueryPipeline } from "./query_pipeline";
 import { SerializationPipeline } from "./serialization_pipeline";
@@ -241,3 +241,3 @@ import { EventQueue } from "./event_queue";
      */
-    castRay(ray: Ray, maxToi: number, solid: boolean, groups: InteractionGroups, filter?: (collider: Collider) => boolean): RayColliderToi | null;
+    castRay(ray: Ray, maxToi: number, solid: boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: Collider, filterExcludeRigidBody?: RigidBody, filterPredicate?: (collider: Collider) => boolean): RayColliderToi | null;
     /**
@@ -255,3 +255,3 @@ * Find the closest intersection between a ray and the physics world.
      */
-    castRayAndGetNormal(ray: Ray, maxToi: number, solid: boolean, groups: InteractionGroups, filter?: (collider: Collider) => boolean): RayColliderIntersection | null;
+    castRayAndGetNormal(ray: Ray, maxToi: number, solid: boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: Collider, filterExcludeRigidBody?: RigidBody, filterPredicate?: (collider: Collider) => boolean): RayColliderIntersection | null;
     /**
@@ -270,3 +270,3 @@ * Cast a ray and collects all the intersections between a ray and the scene.
      */
-    intersectionsWithRay(ray: Ray, maxToi: number, solid: boolean, groups: InteractionGroups, callback: (intersect: RayColliderIntersection) => boolean, filter?: (collider: Collider) => boolean): void;
+    intersectionsWithRay(ray: Ray, maxToi: number, solid: boolean, callback: (intersect: RayColliderIntersection) => boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: Collider, filterExcludeRigidBody?: RigidBody, filterPredicate?: (collider: Collider) => boolean): void;
     /**
@@ -281,3 +281,3 @@ * Gets the handle of up to one collider intersecting the given shape.
      */
-    intersectionWithShape(shapePos: Vector, shapeRot: Rotation, shape: Shape, groups: InteractionGroups, filter?: (collider: Collider) => boolean): Collider | null;
+    intersectionWithShape(shapePos: Vector, shapeRot: Rotation, shape: Shape, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: Collider, filterExcludeRigidBody?: RigidBody, filterPredicate?: (collider: Collider) => boolean): Collider | null;
     /**
@@ -295,3 +295,3 @@ * Find the projection of a point on the closest collider.
      */
-    projectPoint(point: Vector, solid: boolean, groups: InteractionGroups, filter?: (collider: Collider) => boolean): PointColliderProjection | null;
+    projectPoint(point: Vector, solid: boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: Collider, filterExcludeRigidBody?: RigidBody, filterPredicate?: (collider: Collider) => boolean): PointColliderProjection | null;
     /**
@@ -304,3 +304,3 @@ * Find the projection of a point on the closest collider.
      */
-    projectPointAndGetFeature(point: Vector, groups: InteractionGroups): PointColliderProjection | null;
+    projectPointAndGetFeature(point: Vector, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: Collider, filterExcludeRigidBody?: RigidBody, filterPredicate?: (collider: Collider) => boolean): PointColliderProjection | null;
     /**
@@ -315,3 +315,3 @@ * Find all the colliders containing the given point.
      */
-    intersectionsWithPoint(point: Vector, groups: InteractionGroups, callback: (handle: Collider) => boolean, filter?: (collider: Collider) => boolean): void;
+    intersectionsWithPoint(point: Vector, callback: (handle: Collider) => boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: Collider, filterExcludeRigidBody?: RigidBody, filterPredicate?: (collider: Collider) => boolean): void;
     /**
@@ -331,3 +331,3 @@ * Casts a shape at a constant linear velocity and retrieve the first collider it hits.
      */
-    castShape(shapePos: Vector, shapeRot: Rotation, shapeVel: Vector, shape: Shape, maxToi: number, groups: InteractionGroups, filter?: (collider: Collider) => boolean): ShapeColliderTOI | null;
+    castShape(shapePos: Vector, shapeRot: Rotation, shapeVel: Vector, shape: Shape, maxToi: number, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: Collider, filterExcludeRigidBody?: RigidBody, filterPredicate?: (collider: Collider) => boolean): ShapeColliderTOI | null;
     /**
@@ -343,3 +343,3 @@ * Retrieve all the colliders intersecting the given shape.
      */
-    intersectionsWithShape(shapePos: Vector, shapeRot: Rotation, shape: Shape, groups: InteractionGroups, callback: (handle: Collider) => boolean, filter?: (collider: Collider) => boolean): void;
+    intersectionsWithShape(shapePos: Vector, shapeRot: Rotation, shape: Shape, callback: (collider: Collider) => boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: Collider, filterExcludeRigidBody?: RigidBody, filterPredicate?: (collider: Collider) => boolean): void;
     /**
@@ -346,0 +346,0 @@ * Finds the handles of all the colliders with an AABB intersecting the given AABB.

rapier_wasm3d_bg.wasm.d.ts

@@ -14,5 +14,10 @@ /* tslint:disable */
 export function rawimpulsejointset_jointAnchor2(a: number, b: number): number;
+export function rawimpulsejointset_jointSetAnchor1(a: number, b: number, c: number): void;
+export function rawimpulsejointset_jointSetAnchor2(a: number, b: number, c: number): void;
+export function rawimpulsejointset_jointContactsEnabled(a: number, b: number): number;
+export function rawimpulsejointset_jointSetContactsEnabled(a: number, b: number, c: number): void;
 export function rawimpulsejointset_jointLimitsEnabled(a: number, b: number, c: number): number;
 export function rawimpulsejointset_jointLimitsMin(a: number, b: number, c: number): number;
 export function rawimpulsejointset_jointLimitsMax(a: number, b: number, c: number): number;
+export function rawimpulsejointset_jointSetLimits(a: number, b: number, c: number, d: number, e: number): void;
 export function rawimpulsejointset_jointConfigureMotorModel(a: number, b: number, c: number, d: number): void;
@@ -63,2 +68,4 @@ export function rawimpulsejointset_jointConfigureMotorVelocity(a: number, b: number, c: number, d: number, e: number): void;
 export function rawmultibodyjointset_jointAnchor2(a: number, b: number): number;
+export function rawmultibodyjointset_jointContactsEnabled(a: number, b: number): number;
+export function rawmultibodyjointset_jointSetContactsEnabled(a: number, b: number, c: number): void;
 export function rawmultibodyjointset_jointLimitsEnabled(a: number, b: number, c: number): number;
@@ -87,8 +94,11 @@ export function rawmultibodyjointset_jointLimitsMin(a: number, b: number, c: number): number;
 export function rawrigidbodyset_rbSetNextKinematicRotation(a: number, b: number, c: number, d: number, e: number, f: number): void;
+export function rawrigidbodyset_rbRecomputeMassPropertiesFromColliders(a: number, b: number, c: number): void;
+export function rawrigidbodyset_rbSetAdditionalMass(a: number, b: number, c: number, d: number): void;
+export function rawrigidbodyset_rbSetAdditionalMassProperties(a: number, b: number, c: number, d: number, e: number, f: number, g: number): void;
 export function rawrigidbodyset_rbLinvel(a: number, b: number): number;
 export function rawrigidbodyset_rbAngvel(a: number, b: number): number;
 export function rawrigidbodyset_rbLockTranslations(a: number, b: number, c: number, d: number): void;
-export function rawrigidbodyset_rbRestrictTranslations(a: number, b: number, c: number, d: number, e: number, f: number): void;
+export function rawrigidbodyset_rbSetEnabledTranslations(a: number, b: number, c: number, d: number, e: number, f: number): void;
 export function rawrigidbodyset_rbLockRotations(a: number, b: number, c: number, d: number): void;
-export function rawrigidbodyset_rbRestrictRotations(a: number, b: number, c: number, d: number, e: number, f: number): void;
+export function rawrigidbodyset_rbSetEnabledRotations(a: number, b: number, c: number, d: number, e: number, f: number): void;
 export function rawrigidbodyset_rbDominanceGroup(a: number, b: number): number;
@@ -125,3 +135,3 @@ export function rawrigidbodyset_rbSetDominanceGroup(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): 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_remove(a: number, b: number, c: number, d: number, e: number, f: number): void;
@@ -154,3 +164,5 @@ export function rawrigidbodyset_len(a: number): number;
 export function rawcolliderset_coRestitution(a: number, b: number): number;
-export function rawcolliderset_coDensity(a: number, b: number, c: number): void;
+export function rawcolliderset_coDensity(a: number, b: number): number;
+export function rawcolliderset_coMass(a: number, b: number): number;
+export function rawcolliderset_coVolume(a: number, b: number): number;
 export function rawcolliderset_coCollisionGroups(a: number, b: number): number;
@@ -161,2 +173,3 @@ export function rawcolliderset_coSolverGroups(a: number, b: number): number;
 export function rawcolliderset_coActiveEvents(a: number, b: number): number;
+export function rawcolliderset_coContactForceEventThreshold(a: number, b: number): number;
 export function rawcolliderset_coContainsPoint(a: number, b: number, c: number): number;
@@ -185,2 +198,6 @@ export function rawcolliderset_coCastShape(a: number, b: number, c: number, d: number, e: number, f: number, g: number, h: number): number;
 export function rawcolliderset_coSetShape(a: number, b: number, c: number): void;
+export function rawcolliderset_coSetContactForceEventThreshold(a: number, b: number, c: number): void;
+export function rawcolliderset_coSetDensity(a: number, b: number, c: number): void;
+export function rawcolliderset_coSetMass(a: number, b: number, c: number): void;
+export function rawcolliderset_coSetMassProperties(a: number, b: number, c: number, d: number, e: number, f: number): void;
 export function __wbg_rawcolliderset_free(a: number): void;
@@ -190,3 +207,3 @@ export function rawcolliderset_new(): 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): 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): void;
 export function rawcolliderset_remove(a: number, b: number, c: number, d: number, e: number): void;
@@ -234,3 +251,2 @@ export function rawcolliderset_forEachColliderHandle(a: number, b: number): void;
 export function __wbg_rawpointcolliderprojection_free(a: number): void;
-export function rawpointcolliderprojection_colliderHandle(a: number): number;
 export function rawpointcolliderprojection_point(a: number): number;
@@ -301,4 +317,12 @@ export function rawpointcolliderprojection_isInside(a: number): number;
 export function __wbg_raweventqueue_free(a: number): void;
+export function __wbg_rawcontactforceevent_free(a: number): void;
+export function rawcontactforceevent_collider1(a: number): number;
+export function rawcontactforceevent_collider2(a: number): number;
+export function rawcontactforceevent_total_force(a: number): number;
+export function rawcontactforceevent_total_force_magnitude(a: number): number;
+export function rawcontactforceevent_max_force_direction(a: number): number;
+export function rawcontactforceevent_max_force_magnitude(a: number): number;
 export function raweventqueue_new(a: number): number;
 export function raweventqueue_drainCollisionEvents(a: number, b: number): void;
+export function raweventqueue_drainContactForceEvents(a: number, b: number): void;
 export function raweventqueue_clear(a: number): void;
@@ -312,11 +336,11 @@ export function __wbg_rawphysicspipeline_free(a: number): void;
 export function rawquerypipeline_update(a: number, b: number, c: number, d: number): void;
-export function rawquerypipeline_castRay(a: number, b: number, c: number, d: number, e: number, f: number, g: number, h: number): number;
-export function rawquerypipeline_castRayAndGetNormal(a: number, b: number, c: number, d: number, e: number, f: number, g: number, h: number): number;
-export function rawquerypipeline_intersectionsWithRay(a: number, b: number, c: number, d: number, e: number, f: number, g: number, h: number, i: number): void;
-export function rawquerypipeline_intersectionWithShape(a: number, b: number, c: number, d: number, e: number, f: number, g: number, h: number): void;
-export function rawquerypipeline_projectPoint(a: number, b: number, c: number, d: number, e: number, f: number): number;
-export function rawquerypipeline_projectPointAndGetFeature(a: number, b: number, c: number, d: number): number;
-export function rawquerypipeline_intersectionsWithPoint(a: number, b: number, c: number, d: number, e: number, f: number): void;
-export function rawquerypipeline_castShape(a: number, b: number, c: number, d: number, e: number, f: number, g: number, h: number, i: number): number;
-export function rawquerypipeline_intersectionsWithShape(a: number, b: number, c: number, d: number, e: number, f: number, g: number, h: 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;
+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 rawquerypipeline_intersectionsWithRay(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): void;
+export function rawquerypipeline_intersectionWithShape(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 rawquerypipeline_projectPoint(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): number;
+export function rawquerypipeline_projectPointAndGetFeature(a: number, b: number, c: number, d: number, e: number, f: number, g: number, h: number, i: number, j: number, k: number, l: 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): 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;
 export function rawquerypipeline_collidersWithAabbIntersectingAabb(a: number, b: number, c: number, d: number): void;
@@ -361,2 +385,3 @@ export function __wbg_rawdeserializedworld_free(a: number): void;
 export function rawshapecollidertoi_colliderHandle(a: number): number;
+export function rawpointcolliderprojection_colliderHandle(a: number): number;
 export function __wbindgen_add_to_stack_pointer(a: number): number;
@@ -363,0 +388,0 @@ export function __wbindgen_free(a: number, b: number): void;

No alert changes

Improved metrics

Total package byte prevSize

6893522

increased by4.32%

Lines of code

26136

increased by5.06%

No dependency changes