feat: update to rapier 0.13.0

CHANGELOG.md

@@ -1,3 +1,40 @@
+### 0.13.0 (2024-05-05)
+
+Several stability improvements are added as part of this release.
+See [rapier#625](https://github.com/dimforge/rapier/pull/625) for overviews of the most important improvements.
+
+#### Modified
+
+-   The `castShape` and `castCollider` functions have been modified to add a `targetDistance` parameter. This parameter
+    indicates the distance below which a hit is detected.
+-   Rename `RayIntersection.toi` to `.timeOfImpact` for better clarity.
+-   Rename `RayColliderIntersection.toi` to `.timeOfImpact` for better clarity.
+-   Rename `RayColliderToi` to `RayColliderHit`.
+-   Rename `RayColliderHit.toi` to `.timeOfImpact` for better clarity.
+-   Rename `ShapeTOI` to `ShapeCastHit`.
+-   Rename `ShapeColliderTOI` to `ColliderShapeCastHit`.
+-   Rename `ShapeCastHit.toi` to `.timeOfImpact`.
+
+#### Added
+
+-   Fix the kinematic character controller getting stuck against vertical walls.
+-   Add `KinematicCharacterController.normalNudgeFactor` and `.setNormalNudgeFactor` so set a coefficient used for
+    avoiding having the character controller get stuck on penetrations.
+-   Add `RigidBody.softCcdPrediction`, `.setSoftCcdPrediction`, and `RigidBodyDesc.setSoftCcdPrediction` for configuring
+    soft-ccd on the rigid-body. See [rapier#625](https://github.com/dimforge/rapier/pull/625) for additional details on
+    soft-ccd.
+-   3D version only: add `TriMeshFlags::FIX_INTERNAL_EDGES` and `HeightFieldFlags::FIX_INTERNAL_EDGES` for enabling
+    internal edges correction (which is no longer enabled by default). The flags have been added as an optional parameter
+    when building the shapes.
+-   Add `Collider.contactSkin`, `.setContactSkin`, and `ColliderDesc.setContactSkin` for configuring the collider’s
+    contact skin. See [rapier#625](https://github.com/dimforge/rapier/pull/625) for additional details on contact skins.
+-   Add `World.lengthUnit` which can be used to indicate the typical size of dynamic objects (e.g. 100 pixels instead of
+    1 meter). This helps the physics engine adjust internal thresholds for better results.
+
+#### Fixed
+
+-   Fix an issue where the reported contact force are lower than their actual value.
+
 ### 0.12.0 (2024-01-28)
 
 The main highlight of this release is the implementation of a new non-linear constraints solver for better stability
@@ -63,7 +100,8 @@ without affecting performance of the other parts of the simulation.
     attached colliders) without removing it from the physics world.
 -   Add `Collider.isEnabled, Collider.setEnabled, ColliderDesc.setEnabled` to disable a collider without removing it
     from the physics world.
--   Add shape-specific methods to modify a collider’s size: `Collider.setRadius, setHalfExtents, setRoundRadius, setHalfHeight`.
+-   Add shape-specific methods to modify a collider’s
+    size: `Collider.setRadius, setHalfExtents, setRoundRadius, setHalfHeight`.
 
 #### Modified
 
@@ -188,7 +226,8 @@ to the `master` branch.
     automatically wake-up the rigid-bodies attached to the inserted joint.
 -   Add a `filter` callback to all the scene queries. Use this for filtering more fine-grained than collision groups.
 -   Add `collider.shape` that represents the shape of a collider. This is a more convenient way of reading the collider’s
-    shape properties. Modifying this shape will have no effect unless `collider.setShape` is called with the modified shape.
+    shape properties. Modifying this shape will have no effect unless `collider.setShape` is called with the modified
+    shape.
 -   Add `Collider.containsPoint`, `.projectPoint`, `.intersectsRay`, `.castShape`, `.castCollider`, `.intersectsShape`,
     `.contactShape`, `.contactCollider`, `.castRay`, `.castRayAndGetNormal`.
 -   Add `Shape.containsPoint`, `.projectPoint`, `.intersectsRay`, `.castShape`, `.intersectsShape`,
@@ -287,7 +326,8 @@ This release was broken and has been unpublished.
 
 ### v0.7.0
 
-The typescripts bindings for Rapier have a [brand new user-guide](https://rapier.rs/docs/user_guides/javascript/getting_started_js)
+The typescripts bindings for Rapier have
+a [brand new user-guide](https://rapier.rs/docs/user_guides/javascript/getting_started_js)
 covering all the features of the physics engine!
 
 ### Breaking change
@@ -306,8 +346,10 @@ covering all the features of the physics engine!
 
 -   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.
+    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`
@@ -336,25 +378,29 @@ covering all the features of the physics engine!
     -   `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).
+-   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`
+-   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
+    `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)`.
+    by setting
+    its `ActiveEvents`: `ColliderDesc.setActiveEvents(ActiveEvents.PROXIMITY_EVENTS | ActiveEvents.ContactEvents)`.
 
 #### Added
 
@@ -491,7 +537,7 @@ 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`
+-   The `World.castRay` and `QueryPipeline.castRay` now return a struct of type `RayColliderHit`
     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.
 

Cargo.toml

@@ -7,8 +7,8 @@ codegen-units = 1
 #lto = true
 
 [patch.crates-io]
-# rapier2d = { path = "../rapier/crates/rapier2d" }
-# rapier3d = { path = "../rapier/crates/rapier3d" }
+#rapier2d = { path = "../rapier/crates/rapier2d" }
+#rapier3d = { path = "../rapier/crates/rapier3d" }
 #parry2d = { path = "../parry/crates/parry2d" }
 #parry3d = { path = "../parry/crates/parry3d" }
 #nalgebra = { path = "../nalgebra" }

rapier2d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "dimforge_rapier2d" # Can't be named rapier2d which conflicts with the dependency.
-version = "0.12.0"
+version = "0.13.0"
 authors = ["Sébastien Crozet <[email protected]>"]
 description = "2-dimensional physics engine in Rust - official JS bindings."
 documentation = "https://rapier.rs/rustdoc/rapier2d/index.html"
@@ -23,7 +23,7 @@ required-features = ["dim2"]
 
 
 [dependencies]
-rapier2d = { version = "0.18.0", features = ["wasm-bindgen", "serde-serialize", "enhanced-determinism", "debug-render"] }
+rapier2d = { version = "0.19.0", features = ["wasm-bindgen", "serde-serialize", "enhanced-determinism", "debug-render"] }
 ref-cast = "1"
 wasm-bindgen = "0.2.90"
 js-sys = "0.3"

rapier2d/typedoc.json

@@ -27,11 +27,11 @@
         "pkg/rapier_wasm2d.d.ts:RawPointColliderProjection",
         "pkg/rapier_wasm2d.d.ts:RawPointProjection",
         "pkg/rapier_wasm2d.d.ts:RawRayColliderIntersection",
-        "pkg/rapier_wasm2d.d.ts:RawRayColliderToi",
+        "pkg/rapier_wasm2d.d.ts:RawRayColliderHit",
         "pkg/rapier_wasm2d.d.ts:RawRayIntersection",
-        "pkg/rapier_wasm2d.d.ts:RawShapeColliderTOI",
+        "pkg/rapier_wasm2d.d.ts:RawColliderShapeCastHit",
         "pkg/rapier_wasm2d.d.ts:RawShapeContact",
-        "pkg/rapier_wasm2d.d.ts:RawShapeTOI",
+        "pkg/rapier_wasm2d.d.ts:RawShapeCastHit",
         "pkg/rapier_wasm2d.d.ts:RawQueryPipeline",
         "pkg/rapier_wasm2d.d.ts:RawDeserializedWorld",
         "pkg/rapier_wasm2d.d.ts:RawDebugRenderPipeline",

rapier3d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "dimforge_rapier3d" # Can't be named rapier3d which conflicts with the dependency.
-version = "0.12.0"
+version = "0.13.0"
 authors = ["Sébastien Crozet <[email protected]>"]
 description = "3-dimensional physics engine in Rust - official JS bindings."
 documentation = "https://rapier.rs/rustdoc/rapier2d/index.html"
@@ -23,7 +23,7 @@ required-features = ["dim3"]
 
 
 [dependencies]
-rapier3d = { version = "0.18.0", features = ["wasm-bindgen", "serde-serialize", "enhanced-determinism", "debug-render"] }
+rapier3d = { version = "0.19.0", features = ["wasm-bindgen", "serde-serialize", "enhanced-determinism", "debug-render"] }
 ref-cast = "1"
 wasm-bindgen = "^0.2.90"
 js-sys = "0.3"

rapier3d/typedoc.json

@@ -27,11 +27,11 @@
         "pkg/rapier_wasm3d.d.ts:RawPointColliderProjection",
         "pkg/rapier_wasm3d.d.ts:RawPointProjection",
         "pkg/rapier_wasm3d.d.ts:RawRayColliderIntersection",
-        "pkg/rapier_wasm3d.d.ts:RawRayColliderToi",
+        "pkg/rapier_wasm3d.d.ts:RawRayColliderHit",
         "pkg/rapier_wasm3d.d.ts:RawRayIntersection",
-        "pkg/rapier_wasm3d.d.ts:RawShapeColliderTOI",
+        "pkg/rapier_wasm3d.d.ts:RawColliderShapeCastHit",
         "pkg/rapier_wasm3d.d.ts:RawShapeContact",
-        "pkg/rapier_wasm3d.d.ts:RawShapeTOI",
+        "pkg/rapier_wasm3d.d.ts:RawShapeCastHit",
         "pkg/rapier_wasm3d.d.ts:RawQueryPipeline",
         "pkg/rapier_wasm3d.d.ts:RawDeserializedWorld",
         "pkg/rapier_wasm3d.d.ts:RawDebugRenderPipeline",

src.ts/control/character_controller.ts

@@ -134,6 +134,30 @@ export class KinematicCharacterController {
         this.raw.setOffset(value);
     }
 
+    /// Increase this number if your character appears to get stuck when sliding against surfaces.
+    ///
+    /// This is a small distance applied to the movement toward the contact normals of shapes hit
+    /// by the character controller. This helps shape-casting not getting stuck in an always-penetrating
+    /// state during the sliding calculation.
+    ///
+    /// This value should remain fairly small since it can introduce artificial "bumps" when sliding
+    /// along a flat surface.
+    public normalNudgeFactor(): number {
+        return this.raw.normalNudgeFactor();
+    }
+
+    /// Increase this number if your character appears to get stuck when sliding against surfaces.
+    ///
+    /// This is a small distance applied to the movement toward the contact normals of shapes hit
+    /// by the character controller. This helps shape-casting not getting stuck in an always-penetrating
+    /// state during the sliding calculation.
+    ///
+    /// This value should remain fairly small since it can introduce artificial "bumps" when sliding
+    /// along a flat surface.
+    public setNormalNudgeFactor(value: number) {
+        this.raw.setNormalNudgeFactor(value);
+    }
+
     /**
      * Is sliding against obstacles enabled?
      */