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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This release was broken and has been unpublished.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 static body) by setting the active collision types of a collider: ColliderDesc.setActiveCollisionTypes(ActiveCollisionTypes.ALL)

v0.5.3

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

v0.5.2

  • Fix a crash that could happen after adding and then removing a collider right away, before stepping the simulation.

v0.5.1

  • Fix a determinism issue after snapshot restoration.

v0.5.0

  • Significantly improve the broad-phase performances when very large colliders are used.
  • Add RigidBodyDesc::setCcdEnabled to enable Continuous Collision Detection (CCD) for this rigid-body. CCD ensures that a fast-moving rigid-body doesn't miss a collision (the tunneling problem).

Breaking changes:

  • Removed multiple fields from IntegrationParameters. These were unused parameters.

v0.4.0

  • Fix a bug in ball/convex shape collision detection causing the ball to ignore penetrations with depths greater than its radius.

Breaking changes:

  • Removed IntegrationParameters.restitutionVelocityThreshold and IntegrationParameters.set_restitutionVelocityThreshold.

v0.3.1

  • Fix crash happening when creating a collider with a ColliderDesc.convexHull shape.
  • Actually remove the second argument of RigidBodyDesc.setMass as mentioned in the 0.3.0 changelog.
  • Improve snapshotting performances.

v0.3.0

Added

  • Added a RAPIER.version() function at the root of the package to retrieve the version of Rapier as a string.

Several geometric queries have been added (the same methods have been added to the QueryPipeline too):

  • World.intersectionsWithRay: get all colliders intersecting a ray.
  • World.intersectionWithShape: get one collider intersecting a shape.
  • World.projectPoint: get the projection of a point on the closest collider.
  • World.intersectionsWithPoint: get all the colliders containing a point.
  • World.castShape: get the first collider intersecting a shape moving linearly (aka. sweep test).
  • World.intersectionsWithShape: get all the colliders intersecting a shape.

Several new shape types are now supported:

  • RoundCuboid, Segment, Triangle, RoundTriangle, Polyline, ConvexPolygon (2D only), RoundConvexPolygon (2D only), ConvexPolyhedron (3D only), RoundConvexPolyhedron (3D only), RoundCone (3D only).

It is possible to build ColliderDesc using these new shapes:

  • ColliderDesc.roundCuboid, ColliderDesc.segment, ColliderDesc.triangle, ColliderDesc.roundTriangle, ColliderDesc.convexHull, ColliderDesc.roundConvexHull, ColliderDesc.Polyline, ColliderDesc.convexPolyline (2D only), ColliderDesc.roundConvexPolyline (2D only), ColliderDesc.convexMesh (3D only),ColliderDesc.roundConvexMesh (3D only), ColliderDesc.roundCone (3D only).

It is possible to specify different rules for combining friction and restitution coefficients of the two colliders involved in a contact with:

  • ColliderDesc.frictionCombineRule, and ColliderDesc.restitutionCombineRule.

Various RigidBody-related getter and setters have been added:

  • RigidBodyDesc.newStatic, RigidBodyDesc.newDynamic, and RigidBodyDesc.newKinematic are new static method, short equivalent to new RigidBodyDesc(BodyStatus.Static), etc.
  • RigidBodyDesc.setGravityScale, RigidBody.gravityScale, RigidBody.setGravityScale to get/set the scale factor applied to the gravity affecting a rigid-body. Setting this to 0.0 will make the rigid-body ignore gravity.
  • RigidBody.setLinearDamping and RigidBody.setAngularDamping to set the linear and angular damping of the rigid-body.
  • RigidBodyDesc.restrictRotations to prevent rotations along specific coordinate axes. This replaces the three boolean arguments previously passed to .setPrincipalAngularInertia.

Breaking changes

Breaking changes related to rigid-bodies:

  • The RigidBodyDesc.setTranslation and RigidBodyDesc.setLinvel methods now take the components of the translation directly as arguments instead of a single Vector.
  • The RigidBodyDesc.setMass takes only one argument now. Use RigidBodyDesc.lockTranslations to lock the translational motion of the rigid-body.
  • The RigidBodyDesc.setPrincipalAngularInertia no longer have boolean parameters to lock rotations. Use RigidBodyDesc.lockRotations or RigidBodyDesc.restrictRotations to lock the rotational motion of the rigid-body.

Breaking changes related to colliders:

  • The ColliderDesc.setTranslation method now take the components of the translation directly as arguments instead of a single Vector.
  • The roundRadius fields have been renamed borderRadius.
  • The RawShapeType.Polygon no longer exists. For a 2D convex polygon, use RawShapeType.ConvexPolygon instead.
  • All occurrences of Trimesh have been replaced by TriMesh (note the change in case).

Breaking changes related to events:

  • Rename all occurrences of Proximity to Intersection.
  • The Proximity enum has been removed.
  • The drainIntersectionEvents (previously called drainProximityEvent) will now call a callback with arguments (number, number, boolean): two collider handles, and a boolean indicating if they are intersecting.

Breaking changes related to scene queries:

  • The QueryPipeline.castRay method now takes two additional parameters: a boolean indicating if the ray should not propagate if it starts inside of a shape, and a bit mask indicating the group the ray is part of and these it interacts with.
  • The World.castRay and QueryPipeline.castRay now return a struct of type RayColliderToi which no longer contains the normal at the hit point. Use the new methods World.castRayAndGetNormal or QueryPipeline.castRayAndGetNormal in order to retrieve the normal too.

v0.2.13

  • Fix a bug where RigidBodyDesc.setMass(m) with m != 0.0 would cause the rotations of the created rigid-body to be locked.

v0.2.12

  • Add a boolean argument to RigidBodyDesc.setMass to indicate if the mass contribution of colliders should be enabled for this rigid-body or not.
  • Add a RigidBody.lockRotations method to lock all the rigid-body rotations resulting from forces.
  • Add a RigidBody.lockTranslations method to lock all the rigid-body translations resulting from forces.
  • Add a RigidBody.setPrincipalAngularInertia method to set the principal inertia of the rigid-body. This gives the ability to lock individual rotation axes of one rigid-body.

v0.2.11

  • Fix a bug where removing when immediately adding a collider would cause collisions to fail with the new collider.
  • Fix a regression causing some colliders added after a few timesteps not to be properly taken into account.

v0.2.10

  • Fix a bug where removing a collider would result in a rigid-body being removed instead.
  • Fix a determinism issue when running simulation on the Apple M1 processor.
  • Add JointParams.prismatic and JointParams.fixed for creating prismatic joint or fixed joints.

v0.2.9

  • Add RigidBody.setLinvel to set the linear velocity of a rigid-body.
  • Add RigidBody.setAngvel to set the angular velocity of a rigid-body.

v0.2.8

  • Add RigidBodySet.remove to remove a rigid-body from the set.
  • Add ColliderSet.remove to remove a collider from the set.
  • Add JointSet.remove to remove a joint from the set.
  • Add RigidBodyDesc.setLinearDamping and RigidBodyDesc.setAngularDamping for setting the linear and angular damping coefficient of the rigid-body to create.
  • Add RigidBodyDesc.setMass, and RigidBodyDesc.setMassProperties for setting the initial mass properties of a rigid-body.
  • Add ColliderDesc.setCollisionGroups to use bit-masks for collision filtering between some pairs of colliders.
  • Add ColliderDesc.setSolverGroups to use bit-masks for making the constraints solver ignore contacts between some pairs of colliders.
  • Add ColliderDesc.heightfield to build a collider with an heightfield shape.
  • Add ColliderDesc.trimesh to build a collider with a triangle mesh shape.

v0.2.7

  • Reduce snapshot size and computation times.

v0.2.6

  • Fix bug causing an unbounded memory usage when an objects falls indefinitely.

v0.2.5

  • Fix wrong result given by RigidBody.isKinematic() and RigidBody.isDynamic().

v0.2.4

  • Add the support for round cylinder colliders (i.e. cylinders with round edges).

v0.2.3

  • Add the support for cone, cylinder, and capsule colliders.

v0.2.2

  • Fix regression causing the density and isSensor properties of ColliderDesc to not be taken into account.
  • Throw an exception when the parent handle passed to world.createCollider is not a number.

v0.2.1

This is a significant rewrite of the JavaScript bindings for rapier. The objective of this rewrite is to make the API closer to Rapier's and remove most need for manual memory management.

  • Calling .free() is now required only for objects that live for the whole duration of the simulation. This means that it is no longer necessary to .free() vectors, rays, ray intersections, colliders, rigid-bodies, etc. Object that continue to require an explicit .free() are:
    • World and EventQueue.
    • Or, if you are not using the World directly: RigidBodySet, ColliderSet, JointSet, IntegrationParameters, PhysicsPipeline, QueryPipeline , SerializationPipeline, and EventQueue.
  • Collider.parent() now returns the RigidBodyHandle of its parent (instead of the RigidBody directly).
  • Colliders are now built with world.createCollider, i.e., body.createCollider(colliderDesc) becomes world.createCollider(colliderDesc, bodyHandle).
  • Shape types are not an enumeration instead of strings: ShapeType.Ball and ShapeType.Cuboid instead of "ball" and "cuboid".
  • collider.handle is now a field instead of a function.
  • body.handle is now a field instead of a function.
  • The world's gravity is now a Vector instead of individual components, i.e., let world = new RAPIER.World(x, y, z); becomes let world = new RAPIER.World(new RAPIER.Vector3(x, y, z)).
  • Most methods that took individual components as argument (setPosition, setKinematicPosition, setRotation, etc.) now take a Vector or Rotation structure instead. For example rigid_body.setKinematicPosition(x, y, z) becomes rigid_body.setKinematicPosition(new RAPIER.Vector3(x, y, z)).
  • world.stepWithEvents becomes world.step (the event queue is the last optional argument).
  • RigidBodyDesc and ColliderDesc now use the builder pattern. For example let bodyDesc = new RAPIER.RigidBodyDesc("dynamic"); bodyDesc.setTranslation(x, y, z) becomes new RigidBodyDesc(BodyStatus.Dynamic).setTranslation(new Vector(x, y, z)).
  • ray.dir and ray.origin are now fields instead of methods.
  • 2D rotations are now just a number instead of a Rotation struct. So instead of doing rotation.angle, single use the number as the rotation angle.
  • 3D rotations are now represented by the interface Rotation (with fields {x,y,z,w}) or the class Quaternion. Any object with these {x, y, z, w} fields can be used wherever a Rotation is required.
  • 2D vectors are now represented by the interface Vector (with fields {x,y}) or the class Vector2). Any object with these {x,y} fields can be used wherever a Vector is required.
  • 3D vectors are now represented by the interface Vector (with fields {x,y,z}) or the class Vector3). Any object with these {x,y,z} fields can be used wherever a Vector is required.

v0.2.0

See changelogs for v0.2.1 instead. The NPM package for v0.2.0 were missing some files.

v0.1.17

  • Fix bug when ghost forces and/or crashes could be observed when a kinematic body touches a static body.

v0.1.16

  • Fix kinematic rigid-body not waking up dynamic bodies it touches.
  • Added new Ray(origin, direction) constructor instead of Ray.new(origin, direction).

v0.1.15

  • Fix crash when removing a kinematic rigid-body from the World.

v0.1.14

  • Fix issues where force application functions took ownership of the JS vector, preventing the user from freeing with Vector.free() afterwards.

v0.1.13

  • Added rigidBody.setNextKinematicTranslation to set the translation of a kinematic rigid-body at the next timestep.
  • Added rigidBody.setNextKinematicRotation to set the rotation of a kinematic rigid-body at the next timestep.
  • Added rigidBody.predictedTranslation to get the translation of a kinematic rigid-body at the next timestep.
  • Added rigidBody.predictedRotation to set the rotation of a kinematic rigid-body at the next timestep.
  • Added Ray and RayIntersection structures for ray-casting.
  • Added world.castRay to compute the first hit of a ray with the physics scene.
  • Fix a bug causing a kinematic rigid-body not to teleport as expected after a rigidBody.setPosition.

v0.1.12

  • Added world.removeCollider(collider) to remove a collider from the physics world.
  • Added colliderDesc.setTranslation(...) to set the relative translation of the collider to build wrt. the rigid-body it is attached to.
  • Added colliderDesc.setRotation(...) to set the relative rotation of the collider to build wrt. the rigid-body it is attached to.

v0.1.11

  • Fix a bug causing a crash when the broad-phase proxy handles were recycled.

v0.1.10

  • Fix a determinism problem that could cause rigid-body handle allocation to be non-deterministic after a snapshot restoration.

v0.1.9

  • Added world.getCollider(handle) that retrieves a collider from its integer handle.
  • Added joint.handle() that returns the integer handle of the joint.

v0.1.8

  • Added world.forEachRigidBodyHandle(f) to apply a closure on the integer handle of each rigid-body on the world.
  • Added world.forEachActiveRigidBody(f) to apply a closure on each rigid-body on the world.
  • Added world.forEachActiveRigidBodyHandle(f) to apply a closure on the integer handle of each rigid-body on the world.
  • Added rigidBody.applyForce, .applyTorque, .applyImpulse, .applyTorqueImpulse, .applyForceAtPoint, and .applyImpulseAtPoint to apply a manual force or torque to a rigid-body.
  • Added the EventQueue structure that can be used to collect and iterate through physics events.
  • Added the Proximity enum that represents the proximity state of a sensor collider and another collider.
  • Added the world.stepWithEvents(eventQueue) which executes a physics timestep and collects the physics events into the given event queue.

v0.1.7

  • Added world.getRigidBody(handle) to retrieve a rigid-body from its handle.
  • Added world.getJoint(handle) to retrieve a joint from its handle.
  • Added rigidBody.rotation() to retrieve its world-space orientation as a quaternion.
  • Added rigidBody.setTranslation(...) to set the translation of a rigid-body.
  • Added rigidBody.setRotation(...) to set the orientation of a rigid-body.
  • Added rigidBody.wakeUp() to manually wake up a rigid-body.
  • Added rigidBody_desc.setRotation(...) to set tho orientation of the rigid-body to be created.

v0.1.6

  • Added world.removeRigidBody(...) to remove a rigid-body from the world.