@dimforge/rapier3d-compat - npm Package Versions

0.8.0-alpha.0 (2022-01-16)

This release updates to Rapier 0.12.0-alpha.0 which contains:

• A complete rewrite of the joint and contact constraint solver.
• The support for locking individual translation axes.
• The support for multibody joint.

This is an alpha release because the new solver still needs some tuning, and the spherical joint motors/limits is currently not working.

Breaking changes

• In 3D: renamed BallJoint to SphericalJoint.
• In 2D: renamed BallJoint to RevoluteJoint.
• Remove the joint motors and limits for the spherical joint (this is a temporary removal until with leave alpha).
• All the joint-related structures and methods (RevoluteJoint, PrismaticJoint, createJoint, etc.) have renamed to include impulse in the names: RevoluteImpulseJoint, PrismaticImpulseJoint, createImpulseJoint, etc. This is to differentiate them from the new multibody joints.
• Remove from the integration parameters all the parameters that are no longer meaningful (maxPositionIterations, jointErp, warmstartCoeff, allowedAngularError, maxLinearCorrection, maxAngularCorrection).

Added

• Add multibody joints. They are created the same way as impulse joints, except that they are created by world.createMultibodyJoint instead of world.createImpulseJoint.
• Add the ability to lock individual translation axes. Use rigidBody.restrictTranslation.

Fixed

• Fixed an issue with velocity-based kinematic bodies applying kinematic rotation improperly.
• Fixed the second witness points and normals returned by shape-casts.
• Fixed the second local contact normal and points returned by contact manifolds.

0.7.6

This release updates to Rapier 0.11.1 which contains several bug fixes.

Fixed

• Fix a bug causing large moving colliders to miss some collisions after some time.
• Fix invalid forces generated by contacts with position-based kinematic bodies.
• Fix a bug where two colliders without parent would not have their collision computed even if the appropriate flags were set.

0.7.5

Fixed

• Fixed an issue where a collider with no parent attached would not be created under some conditions.

0.7.4

This release was broken and has been unpublished.

0.7.3

Fixed

• The collider.halfExtents() methods now returns a valid value for round cuboids.

0.7.2 (rapier-compat only)

Modified

• The rapier-compat packages don’t need the Buffer polyfill anymore.

0.7.1

Modified

• Update to use Rapier 0.11.0.
• The rapier-compat packages are now generated by rollup.

v0.7.0

The typescripts bindings for Rapier have a brand new user-guide covering all the features of the physics engine!

Breaking change

• The World.castRay and World.castRayAndGetNormal methods have a different signature now, making them more flexible.
• Rename ActiveHooks::FILTER_CONTACT_PAIR to ActiveHooks.FILTER_CONTACT_PAIRS.
• Rename ActiveHooks::FILTER_INTERSECTION_PAIR to ActiveHooks.FILTER_INTERSECTION_PAIRS.
• Rename BodyStatus to RigidBodyType.
• Rename RigidBody.bodyStatus() to RigidBody.bodyType().
• Rename RigidBodyDesc.setMassProperties to RigidBodyDesc.setAdditionalMassProperties.
• Rename RigidBodyDesc.setPrincipalAngularInertia to RigidBodyDesc.setAdditionalPrincipalAngularInertia.
• Rename ColliderDesc.setIsSensor to `ColliderDesc.setSensor.

Added

• Add Ray.pointAt(t) that conveniently computes ray.origin + ray.dir * t.
• Add access to joint motors by defining each joint with its own class deriving from Joint. Each joint now have its relevant motor configuration methods: configurMotorModel, configureMotorVelocity, configureMotorPosition, configureMotor.
• Add World.collidersWithAabbIntersectingAabb for retrieving the handles of all the colliders intersecting the given AABB.
• Add many missing methods for reading/modifying a rigid-body state after its creation:
  • RigidBody.lockTranslations
  • RigidBody.lockRotations
  • RigidBody.restrictRotations
  • RigidBody.dominanceGroup
  • RigidBody.setDominanceGroup
  • RigidBody.enableCcd
• Add RigidBodyDesc.setDominanceGroup for setting the dominance group of the rigid-body being built.
• Add many missing methods for reading/modifying a collider state after its creation:
  • Collider.setSendor
  • Collider.setShape
  • Collider.setRestitution
  • Collider.setFriction
  • Collider.frictionCombineRule
  • Collider.setFrictionCombineRule
  • Collider.restitutionCombineRule
  • Collider.setRestitutionCombineRule
  • Collider.setCollisionGroups
  • Collider.setSolverGroups
  • Collider.activeHooks
  • Collider.setActiveHooks
  • Collider.activeEvents
  • Collider.setActiveEvents
  • Collider.activeCollisionTypes
  • Collider.setTranslation
  • Collider.setTranslationWrtParent
  • Collider.setRotation
  • Collider.setRotationWrtParent
• Add ColliderDesc.setMassProperties for setting explicitly the mass properties of the collider being built (instead of relying on density).

Modified

• Colliders are no longer required to be attached to a rigid-body. Therefore, the second argument of World.createCollider is now optional.

v0.6.0

Breaking changes

• The BodyStatus::Kinematic variant has been replaced by BodyStatus::KinematicPositionBased and BodyStatus::KinematicVelocityBased. Position-based kinematic bodies are controlled by setting (at each frame) the next kinematic position of the rigid-body (just like before), and the velocity-based kinematic bodies are controlled by setting (at each frame) the velocity of the rigid-body.
• The RigidBodyDesc.newKinematic has been replaced by RigidBodyDesc.newKinematicPositionBased and RigidBodyDesc.newKinematicVelocityBased in order to build a position-based or velocity-based kinematic body.
• All contact and intersection events are now disabled by default. The can be enabled for each collider individually by setting its ActiveEvents: ColliderDesc.setActiveEvents(ActiveEvents.PROXIMITY_EVENTS | ActiveEvents.ContactEvents).

Added

• It is now possible to read contact information from the narrow-phase using:
  • world.narrowPhase.contactsWith(collider1, callback)
  • world.narrowPhase.intersectionsWith(collider1, callback)
  • world.narrowPhase.contactPair(collider1, collider2, callback)
  • world.narrowPhase.intersectionPair(collider1, collider2, callback)
• It is now possible to apply custom collision-detection filtering rules (more flexible than collision groups) based on a JS object by doing the following:
  • Enable physics hooks for the colliders you want the custom rules to apply to: ColliderDesc.setActiveHooks(ActiveHooks.FILTER_CONTACT_PAIR | ActiveHooks.FILTER_CONTACT_PAIR)
  • Define an object that implements the PhysicsHooks interface.
  • Pass and instance of your physics hooks object as the second argument of the World.step method.
• It is now possible to enable collision-detection between two non-dynamic bodies (e.g. between a kinematic body and a fixed body) by setting the active collision types of a collider: ColliderDesc.setActiveCollisionTypes(ActiveCollisionTypes.ALL)

v0.5.3

• Fix a crash when loading the WASM file on iOS safari.