Release v0.18.0-beta.0 (#335)

* feat: un-deprecate collider properties accessors

* feat: add functions for getting a collider’s translation/rotation wrt. its parent rigid-body

* Update to rapier 0.27.0-beta.0

* Release v0.18.0-beta.0

* chore: run prettier

Author: sebcrozet

CHANGELOG.md

@@ -1,8 +1,19 @@
-### Unreleased
+### 0.18.0-beta.0 (12 July 2025)
+
+#### Modified
+
+- Update to Rapier 0.22.0-beta.1 which includes a fully reworked narrow-phase tha supports scene queries.
+  This implies a performance gain on large scenes by avoiding the need to re-build the underlying acceleration
+  structure at each frame.
+- Un-deprecate methods for reading shape properties (for example `collider.radius()`). It turned out that these
+  methods are more convenient as they are guaranteed to always be in sync with rapier’s state on wasm.
+- Add `collider.translationWrtParent()` and `collider.rotationWrtParent()` to get the collider’s transaltion/rotation
+  relative to its parent rigid-body.
 
 #### Fix
 
-- rapier-compat top level javascript files extensions have been changed from `.cjs.js` and `.es.js` to `.cjs` and `mjs` respectively. This results in better compatibility with NPM.
+- rapier-compat top level javascript files extensions have been changed from `.cjs.js` and `.es.js` to `.cjs` and `mjs`
+  respectively. This results in better compatibility with NPM.
 
 ### 0.17.3 (30 May 2025)
 

Cargo.lock

@@ -1,6 +1,6 @@
 [package]
 name = "dimforge_{{ js_package_name }}" # Can't be named rapier{{ dimension }}d which conflicts with the dependency.
-version = "0.17.3"
+version = "0.18.0-beta.0"
 authors = ["Sébastien Crozet <[email protected]>"]
 description = "{{ dimension }}-dimensional physics engine in Rust - official JS bindings."
 documentation = "https://rapier.rs/rustdoc/rapier{{ dimension }}d/index.html"
@@ -27,7 +27,7 @@ rust.unexpected_cfgs = { level = "warn", check-cfg = [
 ] }
 
 [dependencies]
-rapier{{ dimension }}d = { version = "0.26.1", features = [
+rapier{{ dimension }}d = { version = "0.27.0-beta.0", features = [
     "serde-serialize",
     "debug-render",
     {%- for feature in additional_features %}

builds/prepare_builds/templates/Cargo.toml.tera

@@ -1,7 +1,14 @@
 import {RawKinematicCharacterController, RawCharacterCollision} from "../raw";
 import {Rotation, Vector, VectorOps} from "../math";
-import {Collider, ColliderSet, InteractionGroups, Shape} from "../geometry";
-import {QueryFilterFlags, QueryPipeline, World} from "../pipeline";
+import {
+    BroadPhase,
+    Collider,
+    ColliderSet,
+    InteractionGroups,
+    NarrowPhase,
+    Shape,
+} from "../geometry";
+import {QueryFilterFlags, World} from "../pipeline";
 import {IntegrationParameters, RigidBody, RigidBodySet} from "../dynamics";
 
 /**
@@ -35,23 +42,26 @@ export class KinematicCharacterController {
     private rawCharacterCollision: RawCharacterCollision;
 
     private params: IntegrationParameters;
+    private broadPhase: BroadPhase;
+    private narrowPhase: NarrowPhase;
     private bodies: RigidBodySet;
     private colliders: ColliderSet;
-    private queries: QueryPipeline;
     private _applyImpulsesToDynamicBodies: boolean;
     private _characterMass: number | null;
 
     constructor(
         offset: number,
         params: IntegrationParameters,
+        broadPhase: BroadPhase,
+        narrowPhase: NarrowPhase,
         bodies: RigidBodySet,
         colliders: ColliderSet,
-        queries: QueryPipeline,
     ) {
         this.params = params;
         this.bodies = bodies;
         this.colliders = colliders;
-        this.queries = queries;
+        this.broadPhase = broadPhase;
+        this.narrowPhase = narrowPhase;
         this.raw = new RawKinematicCharacterController(offset);
         this.rawCharacterCollision = new RawCharacterCollision();
         this._applyImpulsesToDynamicBodies = false;
@@ -305,9 +315,10 @@ export class KinematicCharacterController {
         let rawTranslationDelta = VectorOps.intoRaw(desiredTranslationDelta);
         this.raw.computeColliderMovement(
             this.params.dt,
+            this.broadPhase.raw,
+            this.narrowPhase.raw,
             this.bodies.raw,
             this.colliders.raw,
-            this.queries.raw,
             collider.handle,
             rawTranslationDelta,
             this._applyImpulsesToDynamicBodies,

src.ts/control/character_controller.ts

@@ -1,7 +1,7 @@
 import {RawPidController} from "../raw";
 import {Rotation, RotationOps, Vector, VectorOps} from "../math";
 import {Collider, ColliderSet, InteractionGroups, Shape} from "../geometry";
-import {QueryFilterFlags, QueryPipeline, World} from "../pipeline";
+import {QueryFilterFlags, World} from "../pipeline";
 import {IntegrationParameters, RigidBody, RigidBodySet} from "../dynamics";
 
 // TODO: unify with the JointAxesMask

src.ts/control/pid_controller.ts

@@ -1,29 +1,38 @@
 import {RawDynamicRayCastVehicleController} from "../raw";
 import {Vector, VectorOps} from "../math";
-import {Collider, ColliderSet, InteractionGroups} from "../geometry";
-import {QueryFilterFlags, QueryPipeline} from "../pipeline";
+import {
+    BroadPhase,
+    Collider,
+    ColliderSet,
+    InteractionGroups,
+    NarrowPhase,
+} from "../geometry";
+import {QueryFilterFlags} from "../pipeline";
 import {RigidBody, RigidBodyHandle, RigidBodySet} from "../dynamics";
 
 /**
  * A character controller to simulate vehicles using ray-casting for the wheels.
  */
 export class DynamicRayCastVehicleController {
     private raw: RawDynamicRayCastVehicleController;
+    private broadPhase: BroadPhase;
+    private narrowPhase: NarrowPhase;
     private bodies: RigidBodySet;
     private colliders: ColliderSet;
-    private queries: QueryPipeline;
     private _chassis: RigidBody;
 
     constructor(
         chassis: RigidBody,
+        broadPhase: BroadPhase,
+        narrowPhase: NarrowPhase,
         bodies: RigidBodySet,
         colliders: ColliderSet,
-        queries: QueryPipeline,
     ) {
         this.raw = new RawDynamicRayCastVehicleController(chassis.handle);
+        this.broadPhase = broadPhase;
+        this.narrowPhase = narrowPhase;
         this.bodies = bodies;
         this.colliders = colliders;
-        this.queries = queries;
         this._chassis = chassis;
     }
 
@@ -54,9 +63,10 @@ export class DynamicRayCastVehicleController {
     ) {
         this.raw.update_vehicle(
             dt,
+            this.broadPhase.raw,
+            this.narrowPhase.raw,
             this.bodies.raw,
             this.colliders.raw,
-            this.queries.raw,
             filterFlags,
             filterGroups,
             this.colliders.castClosure(filterPredicate),