feat: update @dimforge/rapier3d-compat to 0.12.0

.changeset/cold-apples-drop.md

@@ -0,0 +1,10 @@
+---
+"@react-three/rapier": minor
+---
+
+feat: update @dimforge/rapier3d-compat to 0.12.0
+
+- Physics component
+  - World integration parameters have changed in the new rapier version. As the new version of rapier has changes to it's constraint solver, there aren't direct alternatives for all old parameters.
+- Add 'useSpringJoint'
+- Add 'useRopeJoint'

demo/src/App.tsx

@@ -1,15 +1,14 @@
 import { Box, Environment, OrbitControls } from "@react-three/drei";
 import { Canvas } from "@react-three/fiber";
-import { Physics, RigidBody, useRapier } from "@react-three/rapier";
+import { Physics, RigidBody } from "@react-three/rapier";
 import { Perf } from "r3f-perf";
 import {
-  createContext,
   ReactNode,
+  StrictMode,
   Suspense,
+  createContext,
   useContext,
-  useState,
-  StrictMode,
-  useEffect
+  useState
 } from "react";
 import { NavLink, NavLinkProps, Route, Routes } from "react-router-dom";
 import { AllCollidersExample } from "./examples/all-colliders/AllCollidersExample";
@@ -24,21 +23,23 @@ import { ComponentsExample } from "./examples/components/ComponentsExample";
 import { ContactForceEventsExample } from "./examples/contact-force-events/ContactForceEventsExample";
 import { CradleExample } from "./examples/cradle/CradleExample";
 import { Damping } from "./examples/damping/DampingExample";
+import { DynamicTypeChangeExample } from "./examples/dynamic-type-change/DynamicTypeChangeExample";
+import { ImmutablePropsExample } from "./examples/immutable-props/ImmutablePropsExample";
 import { InstancedMeshes } from "./examples/instanced-meshes/InstancedMeshesExample";
 import { InstancedMeshesCompound } from "./examples/instances-meshes-compound/InstancedMeshesCompoundExample";
 import { Joints } from "./examples/joints/JointsExample";
 import { Kinematics } from "./examples/kinematics/KinematicsExample";
+import { LockedTransformsExample } from "./examples/locked-transforms/LockedTransformsExample";
 import { ManualStepExample } from "./examples/manual-step/ManualStepExamples";
 import { MeshColliderTest } from "./examples/mesh-collider-test/MeshColliderExample";
-import { SensorsExample } from "./examples/sensors/SensorsExample";
-import Shapes from "./examples/plinko/ShapesExample";
-import { Transforms } from "./examples/transforms/TransformsExample";
-import { LockedTransformsExample } from "./examples/locked-transforms/LockedTransformsExample";
 import { PerformanceExample } from "./examples/performance/PeformanceExample";
-import { DynamicTypeChangeExample } from "./examples/dynamic-type-change/DynamicTypeChangeExample";
+import Shapes from "./examples/plinko/ShapesExample";
+import { RopeJointExample } from "./examples/rope-joint/RopeJointExample";
+import { SensorsExample } from "./examples/sensors/SensorsExample";
+import { SnapshotExample } from "./examples/snapshot/SnapshotExample";
+import { SpringExample } from "./examples/spring/SpringExample";
 import { StutteringExample } from "./examples/stuttering/StutteringExample";
-import { ImmutablePropsExample } from "./examples/immutable-props/ImmutablePropsExample";
-import { SnapshotExample } from './examples/snapshot/SnapshotExample';
+import { Transforms } from "./examples/transforms/TransformsExample";
 
 const demoContext = createContext<{
   setDebug?(f: boolean): void;
@@ -116,7 +117,9 @@ const routes: Record<string, ReactNode> = {
   "dynamic-type-changes": <DynamicTypeChangeExample />,
   stuttering: <StutteringExample />,
   "immutable-props": <ImmutablePropsExample />,
-  snapshot: <SnapshotExample />
+  snapshot: <SnapshotExample />,
+  spring: <SpringExample />,
+  ropeJoint: <RopeJointExample />
 };
 
 export const App = () => {
@@ -149,7 +152,7 @@ export const App = () => {
               interpolate={interpolate}
               debug={debug}
               timeStep={1 / 60}
-            // erp={0.2}
+              // erp={0.2}
             >
               <directionalLight
                 castShadow

demo/src/examples/cradle/CradleExample.tsx

@@ -5,10 +5,9 @@ import {
   RapierRigidBody,
   RigidBody,
   RigidBodyOptions,
-  useRapier,
   useSphericalJoint
 } from "@react-three/rapier";
-import { useEffect, useRef } from "react";
+import { useRef } from "react";
 import { Demo } from "../../App";
 
 const Rod = (props: RigidBodyOptions) => {
@@ -20,12 +19,6 @@ const Rod = (props: RigidBodyOptions) => {
     [0, 0, 0]
   ]);
 
-  const { world } = useRapier();
-
-  useEffect(() => {
-    world.maxStabilizationIterations = 10;
-  }, []);
-
   return (
     <group>
       <RigidBody ref={anchor} {...props} />

demo/src/examples/rope-joint/RopeJointExample.tsx

@@ -0,0 +1,41 @@
+import { Sphere } from "@react-three/drei";
+import {
+  BallCollider,
+  RapierRigidBody,
+  RigidBody,
+  RigidBodyOptions,
+  useRopeJoint
+} from "@react-three/rapier";
+import { useRef } from "react";
+import { Demo } from "../../App";
+
+// todo: flesh out this demo
+
+const RopeJoint = (props: RigidBodyOptions) => {
+  const anchor = useRef<RapierRigidBody>(null);
+  const ball = useRef<RapierRigidBody>(null);
+
+  useRopeJoint(anchor, ball, [[0, 0, 0], [0, 0, 0], 1]);
+
+  return (
+    <group>
+      <RigidBody ref={anchor} {...props} />
+
+      <RigidBody ref={ball} {...props} colliders={false}>
+        <Sphere scale={0.2} receiveShadow castShadow>
+          <meshStandardMaterial metalness={1} roughness={0.3} />
+        </Sphere>
+
+        <BallCollider args={[0.2]} restitution={1.2} />
+      </RigidBody>
+    </group>
+  );
+};
+
+export const RopeJointExample: Demo = () => {
+  return (
+    <group rotation={[1, 0, 0]} scale={3}>
+      <RopeJoint position={[0, 0, 0]} />
+    </group>
+  );
+};

demo/src/examples/spring/SpringExample.tsx

@@ -0,0 +1,39 @@
+import { Sphere } from "@react-three/drei";
+import {
+  BallCollider,
+  RapierRigidBody,
+  RigidBody,
+  RigidBodyOptions,
+  useSpringJoint
+} from "@react-three/rapier";
+import { useRef } from "react";
+import { Demo } from "../../App";
+
+const Spring = (props: RigidBodyOptions) => {
+  const anchor = useRef<RapierRigidBody>(null);
+  const ball = useRef<RapierRigidBody>(null);
+
+  useSpringJoint(anchor, ball, [[0, 0, 0], [0, 0, 0], 2, 20, 2]);
+
+  return (
+    <group>
+      <RigidBody ref={anchor} {...props} />
+
+      <RigidBody ref={ball} {...props} colliders={false}>
+        <Sphere scale={0.2} receiveShadow castShadow>
+          <meshStandardMaterial metalness={1} roughness={0.3} />
+        </Sphere>
+
+        <BallCollider args={[0.2]} restitution={1.2} />
+      </RigidBody>
+    </group>
+  );
+};
+
+export const SpringExample: Demo = () => {
+  return (
+    <group rotation={[1, 0, 0]} scale={3}>
+      <Spring position={[0, 0, 0]} />
+    </group>
+  );
+};

packages/react-three-rapier/package.json

@@ -29,7 +29,7 @@
     "three": ">=0.139.0"
   },
   "dependencies": {
-    "@dimforge/rapier3d-compat": "0.11.2",
+    "@dimforge/rapier3d-compat": "0.12.0",
     "three-stdlib": "2.23.9",
     "use-asset": "1.0.4"
   },

packages/react-three-rapier/src/components/Physics.tsx

@@ -257,32 +257,37 @@ export interface PhysicsProps {
   gravity?: Vector3Tuple;
 
   /**
-   * The maximum velocity iterations the velocity-based constraint solver can make to attempt
-   * to remove the energy introduced by constraint stabilization.
-   *
-   * @defaultValue 1
+   * Amount of penetration the engine wont attempt to correct
+   * @defaultValue 0.001
    */
-  maxStabilizationIterations?: number;
+  allowedLinearError?: number;
 
   /**
-   * The maximum velocity iterations the velocity-based friction constraint solver can make.
-   *
-   * The greater this value is, the most realistic friction will be.
+   * The number of solver iterations run by the constraints solver for calculating forces.
+   * The greater this value is, the most rigid and realistic the physics simulation will be.
    * However a greater number of iterations is more computationally intensive.
    *
-   * @defaultValue 8
+   * @defaultValue 4
    */
-  maxVelocityFrictionIterations?: number;
+  numSolverIterations?: number;
 
   /**
-   * The maximum velocity iterations the velocity-based force constraint solver can make.
-   *
-   * The greater this value is, the most rigid and realistic the physics simulation will be.
+   * Number of addition friction resolution iteration run during the last solver sub-step.
+   * The greater this value is, the most realistic friction will be.
    * However a greater number of iterations is more computationally intensive.
    *
    * @defaultValue 4
    */
-  maxVelocityIterations?: number;
+  numAdditionalFrictionIterations?: number;
+
+  /**
+   * Number of internal Project Gauss Seidel (PGS) iterations run at each solver iteration.
+   * Increasing this parameter will improve stability of the simulation. It will have a lesser effect than
+   * increasing `numSolverIterations` but is also less computationally expensive.
+   * 
+   * @defaultValue 1
+   */
+  numInternalPgsIterations?: number;
 
   /**
    * The maximal distance separating two objects that will generate predictive contacts
@@ -293,7 +298,22 @@ export interface PhysicsProps {
   predictionDistance?: number;
 
   /**
-   * The Error Reduction Parameter in between 0 and 1, is the proportion of the positional error to be corrected at each time step
+   * Minimum number of dynamic bodies in each active island
+   *
+   * @defaultValue 128
+   */
+  minIslandSize?: number
+
+  /**
+   * Maximum number of substeps performed by the solver
+   *
+   * @defaultValue 1
+   */
+  maxCcdSubsteps?: number
+
+  /**
+   * The Error Reduction Parameter in between 0 and 1, is the proportion of the positional error to be corrected at each time step.
+   *
    * @defaultValue 0.8
    */
   erp?: number;
@@ -380,11 +400,14 @@ export const Physics: FC<PhysicsProps> = (props) => {
     debug = false,
 
     gravity = [0, -9.81, 0],
-    maxStabilizationIterations = 1,
-    maxVelocityFrictionIterations = 8,
-    maxVelocityIterations = 4,
-    predictionDistance = 0.002,
-    erp = 0.8
+    allowedLinearError = 0.001,
+    predictionDistance = 4,
+    numSolverIterations = 4,
+    numAdditionalFrictionIterations = 4,
+    numInternalPgsIterations = 1,
+    minIslandSize = 128,
+    maxCcdSubsteps = 1,
+    erp = 0.2
   } = props;
   const rapier = useAsset(importRapier);
   const { invalidate } = useThree();
@@ -421,20 +444,25 @@ export const Physics: FC<PhysicsProps> = (props) => {
   // Update mutable props
   useEffect(() => {
     worldProxy.gravity = vectorArrayToVector3(gravity);
-    worldProxy.integrationParameters.maxStabilizationIterations =
-      maxStabilizationIterations;
-    worldProxy.integrationParameters.maxVelocityFrictionIterations =
-      maxVelocityFrictionIterations;
-    worldProxy.integrationParameters.maxVelocityIterations =
-      maxVelocityIterations;
+
+    worldProxy.numSolverIterations = numSolverIterations
+    worldProxy.numAdditionalFrictionIterations = numAdditionalFrictionIterations
+    worldProxy.numInternalPgsIterations = numInternalPgsIterations
+
+    worldProxy.integrationParameters.allowedLinearError = allowedLinearError
+    worldProxy.integrationParameters.minIslandSize = minIslandSize
+    worldProxy.integrationParameters.maxCcdSubsteps = maxCcdSubsteps
     worldProxy.integrationParameters.predictionDistance = predictionDistance;
     worldProxy.integrationParameters.erp = erp;
   }, [
     worldProxy,
     ...gravity,
-    maxStabilizationIterations,
-    maxVelocityIterations,
-    maxVelocityFrictionIterations,
+    numSolverIterations,
+    numAdditionalFrictionIterations,
+    numInternalPgsIterations,
+    allowedLinearError,
+    minIslandSize,
+    maxCcdSubsteps,
     predictionDistance,
     erp
   ]);