diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 517c61f..4eff811 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -10,17 +10,31 @@ env:
CARGO_TERM_COLOR: always
jobs:
- check-code-snippets:
+ check-injection:
+ runs-on: ubuntu-latest
+ steps:
+ - uses: actions/checkout@v4
+ - name: Run injection script locally
+ run: find docs/user_guides/templates/ -type f -print0 | OUTPUT_FOLDER=docs/user_guides/templates_injected xargs -0 ./inject_code_in_user_guides.sh
+ test-code-snippets-rust:
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v4
- name: Install Linux dependencies
uses: ./.github/actions/install-linux-deps
- - name: Code snippets compilation check + tests
+ - name: Tests injection + code snippets
run: cd docs-examples && cargo test
- check-injection:
+ check-code-snippets-javascript:
runs-on: ubuntu-latest
+ strategy:
+ matrix:
+ dimension: [2d, 3d]
+ defaults:
+ run:
+ working-directory: ./docs-examples/${{ matrix.dimension }}/javascript
steps:
- uses: actions/checkout@v4
- - name: Check injection script
- run: find docs/user_guides/templates/ -type f -print0 | OUTPUT_FOLDER=docs/user_guides/templates_injected xargs -0 ./inject_code_in_user_guides.sh
+ - name: Install dependencies
+ run: npm i
+ - name: Builds javascript snippets.
+ run: npm run build
diff --git a/docs-examples/2d/bevy/examples/colliders2.rs b/docs-examples/2d/bevy/examples/colliders2.rs
index eae3343..221ef72 100644
--- a/docs-examples/2d/bevy/examples/colliders2.rs
+++ b/docs-examples/2d/bevy/examples/colliders2.rs
@@ -136,12 +136,12 @@ fn setup_physics(mut commands: Commands) {
));
// DOCUSAURUS: Groups1 stop
- // DOCUSAURUS: ActiveCollisions1 start
+ // DOCUSAURUS: ActiveCollisionTypes1 start
/* Set the active collision types when the collider is created. */
commands
.spawn(Collider::ball(0.5))
.insert(ActiveCollisionTypes::default() | ActiveCollisionTypes::KINEMATIC_STATIC);
- // DOCUSAURUS: ActiveCollisions1 stop
+ // DOCUSAURUS: ActiveCollisionTypes1 stop
// DOCUSAURUS: ActiveEvents1 start
/* Set the active events when the collider is created. */
@@ -216,14 +216,14 @@ fn modify_collider_groups(
}
// DOCUSAURUS: Groups2 stop
-// DOCUSAURUS: ActiveCollisions2 start
+// DOCUSAURUS: ActiveCollisionTypes2 start
/* Set the active collision types inside of a system. */
fn modify_collider_active_collision_types(mut active_types: Query<&mut ActiveCollisionTypes>) {
for mut active_types in active_types.iter_mut() {
*active_types = (ActiveCollisionTypes::default() | ActiveCollisionTypes::KINEMATIC_STATIC);
}
}
-// DOCUSAURUS: ActiveCollisions2 stop
+// DOCUSAURUS: ActiveCollisionTypes2 stop
// DOCUSAURUS: ActiveEvents2 start
/* Set the active events inside of a system. */
diff --git a/docs-examples/2d/javascript/.gitignore b/docs-examples/2d/javascript/.gitignore
new file mode 100644
index 0000000..6a7d6d8
--- /dev/null
+++ b/docs-examples/2d/javascript/.gitignore
@@ -0,0 +1,130 @@
+# Logs
+logs
+*.log
+npm-debug.log*
+yarn-debug.log*
+yarn-error.log*
+lerna-debug.log*
+.pnpm-debug.log*
+
+# Diagnostic reports (https://nodejs.org/api/report.html)
+report.[0-9]*.[0-9]*.[0-9]*.[0-9]*.json
+
+# Runtime data
+pids
+*.pid
+*.seed
+*.pid.lock
+
+# Directory for instrumented libs generated by jscoverage/JSCover
+lib-cov
+
+# Coverage directory used by tools like istanbul
+coverage
+*.lcov
+
+# nyc test coverage
+.nyc_output
+
+# Grunt intermediate storage (https://gruntjs.com/creating-plugins#storing-task-files)
+.grunt
+
+# Bower dependency directory (https://bower.io/)
+bower_components
+
+# node-waf configuration
+.lock-wscript
+
+# Compiled binary addons (https://nodejs.org/api/addons.html)
+build/Release
+
+# Dependency directories
+node_modules/
+jspm_packages/
+
+# Snowpack dependency directory (https://snowpack.dev/)
+web_modules/
+
+# TypeScript cache
+*.tsbuildinfo
+
+# Optional npm cache directory
+.npm
+
+# Optional eslint cache
+.eslintcache
+
+# Optional stylelint cache
+.stylelintcache
+
+# Microbundle cache
+.rpt2_cache/
+.rts2_cache_cjs/
+.rts2_cache_es/
+.rts2_cache_umd/
+
+# Optional REPL history
+.node_repl_history
+
+# Output of 'npm pack'
+*.tgz
+
+# Yarn Integrity file
+.yarn-integrity
+
+# dotenv environment variable files
+.env
+.env.development.local
+.env.test.local
+.env.production.local
+.env.local
+
+# parcel-bundler cache (https://parceljs.org/)
+.cache
+.parcel-cache
+
+# Next.js build output
+.next
+out
+
+# Nuxt.js build / generate output
+.nuxt
+dist
+
+# Gatsby files
+.cache/
+# Comment in the public line in if your project uses Gatsby and not Next.js
+# https://nextjs.org/blog/next-9-1#public-directory-support
+# public
+
+# vuepress build output
+.vuepress/dist
+
+# vuepress v2.x temp and cache directory
+.temp
+.cache
+
+# Docusaurus cache and generated files
+.docusaurus
+
+# Serverless directories
+.serverless/
+
+# FuseBox cache
+.fusebox/
+
+# DynamoDB Local files
+.dynamodb/
+
+# TernJS port file
+.tern-port
+
+# Stores VSCode versions used for testing VSCode extensions
+.vscode-test
+
+# yarn v2
+.yarn/cache
+.yarn/unplugged
+.yarn/build-state.yml
+.yarn/install-state.gz
+.pnp.*
\ No newline at end of file
diff --git a/docs-examples/2d/javascript/build.sh b/docs-examples/2d/javascript/build.sh
new file mode 100644
index 0000000..60572f8
--- /dev/null
+++ b/docs-examples/2d/javascript/build.sh
@@ -0,0 +1,3 @@
+#!/bin/sh
+
+rm -rf public/dist && mkdir -p public/dist && webpack --mode=development
\ No newline at end of file
diff --git a/docs-examples/2d/javascript/package-lock.json b/docs-examples/2d/javascript/package-lock.json
new file mode 100644
index 0000000..39ed578
--- /dev/null
+++ b/docs-examples/2d/javascript/package-lock.json
@@ -0,0 +1,5263 @@
+{
+ "name": "rapier_snippets_javascript2d",
+ "version": "1.0.0",
+ "lockfileVersion": 2,
+ "requires": true,
+ "packages": {
+ "": {
+ "name": "rapier_snippets_javascript2d",
+ "version": "1.0.0",
+ "license": "Apache-2.0",
+ "dependencies": {
+ "@dimforge/rapier2d": "0.13.1"
+ },
+ "devDependencies": {
+ "html-loader": "^5.0.0",
+ "html-webpack-plugin": "^5.6.0",
+ "pixi-viewport": "^4.37.0",
+ "pixi.js": "^6.3.2",
+ "ts-loader": "^9.5.1",
+ "wasm-pack": "^0.12.1",
+ "webpack-cli": "^5.1.4"
+ }
+ },
+ "node_modules/@dimforge/rapier2d": {
+ "version": "0.13.1",
+ "resolved": "https://registry.npmjs.org/@dimforge/rapier2d/-/rapier2d-0.13.1.tgz",
+ "integrity": "sha512-pobQfNPBIwL3KfyW07bHqAg4q3CvdJ4sAoZ3PpyZlNp2yuE1IXQohD3VSendtEpATfikVVgazmNEVX2whZNL/g=="
+ },
+ "node_modules/@discoveryjs/json-ext": {
+ "version": "0.5.7",
+ "resolved": "https://registry.npmjs.org/@discoveryjs/json-ext/-/json-ext-0.5.7.tgz",
+ "integrity": "sha512-dBVuXR082gk3jsFp7Rd/JI4kytwGHecnCoTtXFb7DB6CNHp4rg5k1bhg0nWdLGLnOV71lmDzGQaLMy8iPLY0pw==",
+ "dev": true,
+ "engines": {
+ "node": ">=10.0.0"
+ }
+ },
+ "node_modules/@jridgewell/gen-mapping": {
+ "version": "0.3.5",
+ "resolved": "https://registry.npmjs.org/@jridgewell/gen-mapping/-/gen-mapping-0.3.5.tgz",
+ "integrity": "sha512-IzL8ZoEDIBRWEzlCcRhOaCupYyN5gdIK+Q6fbFdPDg6HqX6jpkItn7DFIpW9LQzXG6Df9sA7+OKnq0qlz/GaQg==",
+ "dev": true,
+ "dependencies": {
+ "@jridgewell/set-array": "^1.2.1",
+ "@jridgewell/sourcemap-codec": "^1.4.10",
+ "@jridgewell/trace-mapping": "^0.3.24"
+ },
+ "engines": {
+ "node": ">=6.0.0"
+ }
+ },
+ "node_modules/@jridgewell/resolve-uri": {
+ "version": "3.1.2",
+ "resolved": "https://registry.npmjs.org/@jridgewell/resolve-uri/-/resolve-uri-3.1.2.tgz",
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+ "dev": true,
+ "dependencies": {
+ "@jridgewell/gen-mapping": "^0.3.5",
+ "@jridgewell/trace-mapping": "^0.3.25"
+ }
+ },
+ "node_modules/@jridgewell/sourcemap-codec": {
+ "version": "1.4.15",
+ "resolved": "https://registry.npmjs.org/@jridgewell/sourcemap-codec/-/sourcemap-codec-1.4.15.tgz",
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diff --git a/docs-examples/2d/javascript/package.json b/docs-examples/2d/javascript/package.json
new file mode 100644
index 0000000..6d44aad
--- /dev/null
+++ b/docs-examples/2d/javascript/package.json
@@ -0,0 +1,24 @@
+{
+ "name": "rapier_snippets_javascript2d",
+ "version": "1.0.0",
+ "description": "Javascript snippets from rapier.rs. Exists only to check it's compiling",
+ "scripts": {
+ "build": "bash build.sh",
+ "start": "static-web-server -w static-web-server.toml",
+ "preview": "npm run build && npm run start"
+ },
+ "author": "",
+ "license": "Apache-2.0",
+ "devDependencies": {
+ "html-loader": "^5.0.0",
+ "html-webpack-plugin": "^5.6.0",
+ "pixi-viewport": "^4.37.0",
+ "pixi.js": "^6.3.2",
+ "ts-loader": "^9.5.1",
+ "wasm-pack": "^0.12.1",
+ "webpack-cli": "^5.1.4"
+ },
+ "dependencies": {
+ "@dimforge/rapier2d": "0.13.1"
+ }
+}
\ No newline at end of file
diff --git a/docs-examples/2d/javascript/public/index.html b/docs-examples/2d/javascript/public/index.html
new file mode 100644
index 0000000..2ae6f2f
--- /dev/null
+++ b/docs-examples/2d/javascript/public/index.html
@@ -0,0 +1,23 @@
+
+
+
+
+
+
+
+
+
+
+
+ If nothing is displayed, this example probably outputs something in the console.
+
+
+
\ No newline at end of file
diff --git a/docs-examples/2d/javascript/src/index.ts b/docs-examples/2d/javascript/src/index.ts
new file mode 100644
index 0000000..a2fc34c
--- /dev/null
+++ b/docs-examples/2d/javascript/src/index.ts
@@ -0,0 +1,9 @@
+require('./snippets/advanced_collision_detection')
+require('./snippets/character_controller')
+require('./snippets/colliders')
+require('./snippets/debug')
+require('./snippets/getting_started')
+require('./snippets/joints')
+require('./snippets/rigid_bodies')
+require('./snippets/scene_queries')
+require('./snippets/standalone')
diff --git a/docs-examples/2d/javascript/src/snippets/advanced_collision_detection.ts b/docs-examples/2d/javascript/src/snippets/advanced_collision_detection.ts
new file mode 100644
index 0000000..6814fe0
--- /dev/null
+++ b/docs-examples/2d/javascript/src/snippets/advanced_collision_detection.ts
@@ -0,0 +1,68 @@
+import RAPIER from '@dimforge/rapier2d';
+
+
+let world = new RAPIER.World({ x: 0.0, y: -9.81 });
+{
+
+ // DOCUSAURUS: Events start
+ let eventQueue = new RAPIER.EventQueue(true);
+ world.step(eventQueue);
+
+ eventQueue.drainCollisionEvents((handle1, handle2, started) => {
+ /* Handle the collision event. */
+ });
+
+ eventQueue.drainContactForceEvents(event => {
+ let handle1 = event.collider1(); // Handle of the first collider involved in the event.
+ let handle2 = event.collider2(); // Handle of the second collider involved in the event.
+ /* Handle the contact force event. */
+ });
+ // DOCUSAURUS: Events stop
+}
+
+let colliderDesc = new RAPIER.ColliderDesc(new RAPIER.Ball(0.5));
+let collider1 = world.createCollider(colliderDesc);
+let collider2 = world.createCollider(colliderDesc);
+let collider = world.createCollider(colliderDesc);
+{
+ // DOCUSAURUS: ContactGraph start
+ world.contactPairsWith(collider, (otherCollider) => {
+ // This closure is called on each collider object potentially
+ // in contact with `collider`.
+ });
+
+ world.contactPair(collider1, collider2, (manifold, flipped) => {
+ // Contact information can be read from `manifold`.
+ });
+ // DOCUSAURUS: ContactGraph stop
+}
+
+{
+ // DOCUSAURUS: IntersectionGraph start
+ world.intersectionPairsWith(collider, (otherCollider) => {
+ // This closure is called on each collider potentially
+ // intersecting the collider `collider`.
+ });
+
+ let intersections = world.intersectionPair(collider1, collider2);
+ // DOCUSAURUS: IntersectionGraph stop
+}
+{
+ // DOCUSAURUS: IntersectionTest start
+ let shape = new RAPIER.Cuboid(1.0, 2.0);
+ let shapePos = { x: 1.0, y: 2.0 };
+ let shapeRot = 0.1;
+
+ world.intersectionsWithShape(shapePos, shapeRot, shape, (handle) => {
+ console.log("The collider", handle, "intersects our shape.");
+ return true; // Return `false` instead if we want to stop searching for other colliders that contain this point.
+ });
+
+ let aabbCenter = { x: -1.0, y: -2.0 };
+ let aabbHalfExtents = { x: 0.5, y: 0.6 };
+ world.collidersWithAabbIntersectingAabb(aabbCenter, aabbHalfExtents, (handle) => {
+ console.log("The collider", handle, "has an AABB intersecting our test AABB");
+ return true; // Return `false` instead if we want to stop searching for other colliders that contain this point.
+ });
+ // DOCUSAURUS: IntersectionTest stop
+}
diff --git a/docs-examples/2d/javascript/src/snippets/character_controller.ts b/docs-examples/2d/javascript/src/snippets/character_controller.ts
new file mode 100644
index 0000000..f1e5289
--- /dev/null
+++ b/docs-examples/2d/javascript/src/snippets/character_controller.ts
@@ -0,0 +1,103 @@
+import RAPIER from '@dimforge/rapier2d';
+
+
+let world = new RAPIER.World({ x: 0.0, y: -9.81 });
+{
+
+ // DOCUSAURUS: Setup1 start
+ // The gap the controller will leave between the character and its environment.
+ let offset = 0.01;
+ // Create the controller.
+ let characterController = world.createCharacterController(offset);
+ // Remove the controller once we are done with it.
+ world.removeCharacterController(characterController);
+ // DOCUSAURUS: Setup1 stop
+}
+
+{
+ let offset = 0.01;
+ let desiredTranslation = { x: 1, y: 0 };
+ let colliderDesc = new RAPIER.ColliderDesc(new RAPIER.Ball(0.5));
+ let collider = world.createCollider(colliderDesc);
+ // DOCUSAURUS: Setup2 start
+ let characterController = world.createCharacterController(offset);
+ characterController.computeColliderMovement(
+ collider, // The collider we would like to move.
+ desiredTranslation, // The movement we would like to apply if there wasn’t any obstacle.
+ );
+ // Read the result.
+ let correctedMovement = characterController.computedMovement();
+ // TODO: apply this corrected movement by following the rules described below.
+ // DOCUSAURUS: Setup2 stop
+}
+
+{
+ // DOCUSAURUS: Offset start
+ // Here the character controller is initialized with an offset of 0.01.
+ let offset = 0.01;
+ let characterController = world.createCharacterController(0.01);
+ // DOCUSAURUS: Offset stop
+}
+{
+ // DOCUSAURUS: UpVector start
+ let characterController = world.createCharacterController(0.01);
+ // Change the character controller’s up vector to the positive X axis.
+ characterController.setUp({ x: 1.0, y: 0.0 });
+ // DOCUSAURUS: UpVector stop
+}
+{
+ // DOCUSAURUS: Slopes start
+ let characterController = world.createCharacterController(0.01);
+ // Don’t allow climbing slopes larger than 45 degrees.
+ characterController.setMaxSlopeClimbAngle(45 * Math.PI / 180);
+ // Automatically slide down on slopes smaller than 30 degrees.
+ characterController.setMinSlopeSlideAngle(30 * Math.PI / 180);
+ // DOCUSAURUS: Slopes stop
+}
+
+{
+ // DOCUSAURUS: Stairs start
+ let characterController = world.createCharacterController(0.01);
+ // Autostep if the step height is smaller than 0.5, its width is larger than 0.2,
+ // and allow stepping on dynamic bodies.
+ characterController.enableAutostep(0.5, 0.2, true);
+ // Disable autostep.
+ characterController.disableAutostep();
+ // DOCUSAURUS: Stairs stop
+}
+
+{
+ // DOCUSAURUS: Snap start
+ let characterController = world.createCharacterController(0.01);
+ // Snap to the ground if the vertical distance to the ground is smaller than 0.5.
+ characterController.enableSnapToGround(0.5);
+ // Disable snap-to-ground.
+ characterController.disableSnapToGround();
+ // DOCUSAURUS: Snap stop
+}
+
+{
+ let colliderDesc = new RAPIER.ColliderDesc(new RAPIER.Ball(0.5));
+ let collider = world.createCollider(colliderDesc);
+ let desiredMovementVector = { x: 1, y: 0 };
+ // DOCUSAURUS: Collisions1 start
+ let characterController = world.createCharacterController(0.01);
+ characterController.computeColliderMovement(collider, desiredMovementVector);
+
+ // After the collider movement calculation is done, we can read the
+ // collision events.
+ for (let i = 0; i < characterController.numComputedCollisions(); i++) {
+ let collision = characterController.computedCollision(i);
+ // Do something with that collision information.
+ }
+ // DOCUSAURUS: Collisions1 stop
+}
+
+{
+ // DOCUSAURUS: Collisions2 start
+ let characterController = world.createCharacterController(0.01);
+ // Enable the automatic application of impulses to the dynamic bodies
+ // hit by the character along its path.
+ characterController.setApplyImpulsesToDynamicBodies(true);
+ // DOCUSAURUS: Collisions2 stop
+}
\ No newline at end of file
diff --git a/docs-examples/2d/javascript/src/snippets/colliders.ts b/docs-examples/2d/javascript/src/snippets/colliders.ts
new file mode 100644
index 0000000..2589c8e
--- /dev/null
+++ b/docs-examples/2d/javascript/src/snippets/colliders.ts
@@ -0,0 +1,213 @@
+import RAPIER, { Vector2, ColliderDesc } from '@dimforge/rapier2d';
+
+{
+ let vertices = new Float32Array([-1.0, -1.0, 1.0, -1.0, 1.0, 1.0]);
+ let indices = new Uint32Array([0, 2, 1]);
+ let heights = new Float32Array([0.0, 1.0, 0.5, 0.9]);
+ let scale = new Vector2(1.0, 1.0);
+
+ // DOCUSAURUS: Creation start
+ // The physics world.
+ let world = new RAPIER.World({ x: 0.0, y: -9.81 });
+
+ // Builder for a ball-shaped collider.
+ let example1 = RAPIER.ColliderDesc.ball(0.5);
+ // Builder for a cuboid-shaped collider.
+ let example2 = RAPIER.ColliderDesc.cuboid(0.5, 0.2);
+ // Builder for a capsule-shaped collider. The capsule principal axis is the `y` coordinate axis.
+ let example3 = RAPIER.ColliderDesc.capsule(0.5, 0.2);
+ // Builder for a triangle-mesh-shaped collider.
+ let example4 = RAPIER.ColliderDesc.trimesh(vertices, indices);
+ // Builder for a heightfield-shaped collider.
+ let example5 = RAPIER.ColliderDesc.heightfield(heights, scale);
+ // Builder for a collider with the given shape.
+ let colliderDesc = new RAPIER.ColliderDesc(new RAPIER.Ball(0.5))
+ // The collider translation wrt. the body it is attached to.
+ // Default: the zero vector.
+ .setTranslation(1.0, 2.0)
+ // The collider rotation wrt. the body it is attached to.
+ // Default: the identity rotation.
+ .setRotation(3.14)
+ // The collider density. If non-zero the collider's mass and angular inertia will be added
+ // to the inertial properties of the body it is attached to.
+ // Default: 1.0
+ .setDensity(1.3)
+ // The friction coefficient of this collider.
+ // Default: 0.5
+ .setFriction(0.8)
+ // Whether this collider is a sensor.
+ // Default: false
+ .setSensor(true);
+
+ // Create the collider, without attaching it to a rigid-body.
+ let handle = world.createCollider(colliderDesc);
+ // Or create the collider and attach it to a rigid-body.
+ let rigidBody = world.createRigidBody(RAPIER.RigidBodyDesc.dynamic());
+ let collider = world.createCollider(colliderDesc, rigidBody);
+ // DOCUSAURUS: Creation stop
+
+ let position = rigidBody.translation();
+ console.log("Rigid-body position: ", position.x, position.y);
+}
+
+let world = new RAPIER.World({ x: 0.0, y: -9.81 });
+{
+ // DOCUSAURUS: ColliderType1 start
+ /* Set the collider type when the collider is created. */
+ let colliderDesc = RAPIER.ColliderDesc.ball(0.5)
+ .setSensor(true);
+ let collider = world.createCollider(colliderDesc);
+ // DOCUSAURUS: ColliderType1 stop
+
+ // DOCUSAURUS: ColliderType2 start
+ /* Set the collider type after the collider creation. */
+ collider.setSensor(true);
+ // DOCUSAURUS: ColliderType2 stop
+}
+
+{
+ // DOCUSAURUS: Mass start
+ let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic();
+ let rigidBody = world.createRigidBody(rigidBodyDesc);
+ // First option: by setting the density of the collider (or we could just leave
+ // its default value 1.0).
+ let colliderDesc = RAPIER.ColliderDesc.cuboid(1.0, 2.0)
+ .setDensity(2.0);
+ // Second option: by setting the mass of the collider.
+ let colliderDesc2 = RAPIER.ColliderDesc.cuboid(1.0, 2.0)
+ .setMass(0.8);
+ // Third option: by setting the mass-properties explicitly.
+ let colliderDesc3 = RAPIER.ColliderDesc.cuboid(1.0, 2.0)
+ .setMassProperties(0.5, { x: 0.0, y: 1.0 }, 0.3);
+ // When the collider is attached, the rigid-body's mass and angular
+ // inertia is automatically updated to take the collider into account.
+ let collider = world.createCollider(colliderDesc, rigidBody);
+ // DOCUSAURUS: Mass stop
+}
+
+{
+ // DOCUSAURUS: Position1 start
+ /* Set the collider position when the collider is created. */
+ let colliderDesc = RAPIER.ColliderDesc.ball(0.5)
+ .setTranslation(1.0, 2.0)
+ .setRotation(0.4);
+ let collider = world.createCollider(colliderDesc);
+ // DOCUSAURUS: Position1 stop
+
+ // DOCUSAURUS: Position2 start
+ /* Set the collider position after the collider creation. */
+ collider.setTranslation({ x: 1.0, y: 2.0 });
+ collider.setRotation(0.4);
+ // DOCUSAURUS: Position2 stop
+}
+{
+ // DOCUSAURUS: Position3 start
+ let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic();
+ let rigidBody = world.createRigidBody(rigidBodyDesc);
+ let colliderDesc = RAPIER.ColliderDesc.ball(0.5)
+ .setTranslation(1.0, 2.0);
+ // Attach the collider to the rigid-body. The collider's position wrt. the rigid-body
+ // is automatically set to the collider current position when this method is called.
+ let collider = world.createCollider(colliderDesc, rigidBody);
+ // DOCUSAURUS: Position3 stop
+
+ // DOCUSAURUS: Position4 start
+ /* Set the collider position wrt. its parent after the collider creation. */
+ collider.setTranslationWrtParent({ x: 1.0, y: 2.0 });
+ // DOCUSAURUS: Position4 stop
+}
+
+{
+ // DOCUSAURUS: Friction1 start
+ /* Set the friction coefficient and friction combine rule
+ when the collider is created. */
+ let colliderDesc = RAPIER.ColliderDesc.ball(0.5)
+ .setFriction(0.7)
+ .setFrictionCombineRule(RAPIER.CoefficientCombineRule.Min);
+ let collider = world.createCollider(colliderDesc);
+ // DOCUSAURUS: Friction1 stop
+
+ // DOCUSAURUS: Friction2 start
+ /* Set the friction coefficient and friction combine rule
+ after the collider creation. */
+ collider.setFriction(0.7);
+ collider.setFrictionCombineRule(RAPIER.CoefficientCombineRule.Min);
+ // DOCUSAURUS: Friction2 stop
+}
+
+{
+ // DOCUSAURUS: Restitution1 start
+ /* Set the restitution coefficient and restitution combine rule
+ when the collider is created. */
+ let colliderDesc = RAPIER.ColliderDesc.ball(0.5)
+ .setRestitution(0.7)
+ .setRestitutionCombineRule(RAPIER.CoefficientCombineRule.Min);
+ let collider = world.createCollider(colliderDesc);
+ // DOCUSAURUS: Restitution1 stop
+
+ // DOCUSAURUS: Restitution2 start
+ /* Set the restitution coefficient and restitution combine rule
+ after the collider creation. */
+ collider.setRestitution(0.7);
+ collider.setRestitutionCombineRule(RAPIER.CoefficientCombineRule.Min);
+ // DOCUSAURUS: Restitution2 stop
+}
+
+{
+ // DOCUSAURUS: Groups1 start
+ /* Set the collision groups and solver groups when the collider is created. */
+ let colliderDesc = RAPIER.ColliderDesc.ball(0.5)
+ .setCollisionGroups(0x000D0004)
+ .setSolverGroups(0x00500010);
+ let collider = world.createCollider(colliderDesc);
+ // DOCUSAURUS: Groups1 stop
+
+ // DOCUSAURUS: Groups2 start
+ /* Set the collision groups and solver groups after the collider creation. */
+ collider.setCollisionGroups(0x000D0004);
+ collider.setSolverGroups(0x000D0004);
+ // DOCUSAURUS: Groups2 stop
+}
+
+{
+ // DOCUSAURUS: ActiveCollisionTypes1 start
+ /* Set the active collision types when the collider is created. */
+ let colliderDesc = RAPIER.ColliderDesc.ball(0.5)
+ .setActiveCollisionTypes(RAPIER.ActiveCollisionTypes.DEFAULT |
+ RAPIER.ActiveCollisionTypes.KINEMATIC_FIXED);
+ let collider = world.createCollider(colliderDesc);
+ // DOCUSAURUS: ActiveCollisionTypes1 stop
+
+ // DOCUSAURUS: ActiveCollisionTypes2 start
+ /* Set the active collision types after the collider creation. */
+ collider.setActiveCollisionTypes(RAPIER.ActiveCollisionTypes.DEFAULT |
+ RAPIER.ActiveCollisionTypes.KINEMATIC_FIXED);
+ // DOCUSAURUS: ActiveCollisionTypes2 stop
+}
+
+{
+ // DOCUSAURUS: ActiveEvents1 start
+ /* Set the active events when the collider is created. */
+ let colliderDesc = RAPIER.ColliderDesc.ball(0.5)
+ .setActiveEvents(RAPIER.ActiveEvents.COLLISION_EVENTS);
+ let collider = world.createCollider(colliderDesc);
+ // DOCUSAURUS: ActiveEvents1 stop
+
+ // DOCUSAURUS: ActiveEvents2 start
+ /* Set the active events after the collider creation. */
+ collider.setActiveEvents(RAPIER.ActiveEvents.COLLISION_EVENTS);
+ // DOCUSAURUS: ActiveEvents2 stop
+}
+{
+ // DOCUSAURUS: ActiveHooks1 start
+ /* Set the active hooks when the collider is created. */
+ let colliderDesc = RAPIER.ColliderDesc.ball(0.5)
+ .setActiveHooks(RAPIER.ActiveHooks.FILTER_CONTACT_PAIRS);
+ let collider = world.createCollider(colliderDesc);
+ // DOCUSAURUS: ActiveHooks1 stop
+
+ // DOCUSAURUS: ActiveHooks2 start
+ /* Set the active hooks after the collider creation. */
+ collider.setActiveHooks(RAPIER.ActiveHooks.FILTER_CONTACT_PAIRS);
+ // DOCUSAURUS: ActiveHooks2 stop
+}
\ No newline at end of file
diff --git a/docs-examples/2d/javascript/src/snippets/debug.ts b/docs-examples/2d/javascript/src/snippets/debug.ts
new file mode 100644
index 0000000..bcdcbed
--- /dev/null
+++ b/docs-examples/2d/javascript/src/snippets/debug.ts
@@ -0,0 +1,38 @@
+import { Graphics } from "./graphics/Graphics";
+
+import('@dimforge/rapier2d').then(RAPIER => {
+ // Use the RAPIER module here.
+ let gravity = { x: 0.0, y: -9.81 };
+ let world = new RAPIER.World(gravity);
+
+ // Create the ground
+ let groundColliderDesc = RAPIER.ColliderDesc.cuboid(10.0, 0.1);
+ world.createCollider(groundColliderDesc);
+ world.lengthUnit = 1;
+
+ // Create a dynamic rigid-body.
+ let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic()
+ .setTranslation(0.0, 10.0);
+ let rigidBody = world.createRigidBody(rigidBodyDesc);
+
+ // Create a cuboid collider attached to the dynamic rigidBody.
+ let colliderDesc = RAPIER.ColliderDesc.cuboid(0.5, 0.5);
+ let collider = world.createCollider(colliderDesc, rigidBody);
+
+
+ let graphics = new Graphics();
+ graphics.lookAt({ zoom: 35.0, target: { x: 0.0, y: 0.0 } });
+ // Game loop. Replace by your own game loop system.
+ let gameLoop = () => {
+ // Step the simulation forward.
+ world.step();
+ // Get and print the rigid-body's position.
+ let position = rigidBody.translation();
+ console.log("Rigid-body position: ", position.x, position.y);
+
+ graphics.render(world);
+ setTimeout(gameLoop, 16);
+ };
+
+ gameLoop();
+})
\ No newline at end of file
diff --git a/docs-examples/2d/javascript/src/snippets/getting_started.ts b/docs-examples/2d/javascript/src/snippets/getting_started.ts
new file mode 100644
index 0000000..244b570
--- /dev/null
+++ b/docs-examples/2d/javascript/src/snippets/getting_started.ts
@@ -0,0 +1,34 @@
+// DOCUSAURUS: basic_sim start
+import('@dimforge/rapier2d').then(RAPIER => {
+ // Use the RAPIER module here.
+ let gravity = { x: 0.0, y: -9.81 };
+ let world = new RAPIER.World(gravity);
+
+ // Create the ground
+ let groundColliderDesc = RAPIER.ColliderDesc.cuboid(10.0, 0.1);
+ world.createCollider(groundColliderDesc);
+
+ // Create a dynamic rigid-body.
+ let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic()
+ .setTranslation(0.0, 1.0);
+ let rigidBody = world.createRigidBody(rigidBodyDesc);
+
+ // Create a cuboid collider attached to the dynamic rigidBody.
+ let colliderDesc = RAPIER.ColliderDesc.cuboid(0.5, 0.5);
+ let collider = world.createCollider(colliderDesc, rigidBody);
+
+ // Game loop. Replace by your own game loop system.
+ let gameLoop = () => {
+ // Step the simulation forward.
+ world.step();
+
+ // Get and print the rigid-body's position.
+ let position = rigidBody.translation();
+ console.log("Rigid-body position: ", position.x, position.y);
+
+ setTimeout(gameLoop, 16);
+ };
+
+ gameLoop();
+})
+// DOCUSAURUS: basic_sim stop
\ No newline at end of file
diff --git a/docs-examples/2d/javascript/src/snippets/graphics/Graphics.ts b/docs-examples/2d/javascript/src/snippets/graphics/Graphics.ts
new file mode 100644
index 0000000..688fa31
--- /dev/null
+++ b/docs-examples/2d/javascript/src/snippets/graphics/Graphics.ts
@@ -0,0 +1,86 @@
+// Adapted from https://github.com/dimforge/rapier.js/blob/a86610ffc744efb1541f896cd0f421993e6ddb54/testbed2d/src/Graphics.ts
+
+// DOCUSAURUS: Debug1 start
+import PIXI from "pixi.js";
+import { Viewport } from "pixi-viewport";
+// DOCUSAURUS: Debug1 stop
+
+import type * as RAPIER from "@dimforge/rapier2d";
+
+export class Graphics {
+ colorIndex: number;
+ renderer: PIXI.Renderer;
+ scene: PIXI.Container;
+ viewport: Viewport;
+
+ constructor() {
+ this.renderer = new PIXI.Renderer({
+ backgroundColor: 0x292929,
+ antialias: false,
+ width: window.innerWidth,
+ height: window.innerHeight,
+ });
+
+ this.scene = new PIXI.Container();
+ document.body.appendChild(this.renderer.view);
+
+ this.viewport = new Viewport({
+ screenWidth: window.innerWidth,
+ screenHeight: window.innerHeight,
+ worldWidth: 200,
+ worldHeight: 200,
+ interaction: this.renderer.plugins.interaction,
+ });
+
+ this.scene.addChild(this.viewport);
+ this.viewport.drag().pinch().wheel().decelerate();
+
+ this.lines = new PIXI.Graphics();
+ this.viewport.addChild(this.lines);
+
+ let me = this;
+
+ function onWindowResize() {
+ me.renderer.resize(window.innerWidth, window.innerHeight);
+ }
+
+ function onContextMenu(event: UIEvent) {
+ event.preventDefault();
+ }
+
+ document.oncontextmenu = onContextMenu;
+ document.body.oncontextmenu = onContextMenu;
+
+ window.addEventListener("resize", onWindowResize, false);
+ }
+
+ lines: PIXI.Graphics;
+
+ // DOCUSAURUS: Debug2 start
+ render(world: RAPIER.World) {
+ // DOCUSAURUS: Debug0 start
+ const { vertices, colors } = world.debugRender();
+ // DOCUSAURUS: Debug0 stop
+
+ this.lines.clear();
+
+ for (let i = 0; i < vertices.length / 4; i += 1) {
+ let color = PIXI.utils.rgb2hex([
+ colors[i * 8],
+ colors[i * 8 + 1],
+ colors[i * 8 + 2],
+ ]);
+ this.lines.lineStyle(1.0, color, colors[i * 8 + 3], 0.5, true);
+ this.lines.moveTo(vertices[i * 4], -vertices[i * 4 + 1]);
+ this.lines.lineTo(vertices[i * 4 + 2], -vertices[i * 4 + 3]);
+ }
+
+ this.renderer.render(this.scene);
+ }
+ // DOCUSAURUS: Debug2 stop
+
+ lookAt(pos: { zoom: number; target: { x: number; y: number } }) {
+ this.viewport.setZoom(pos.zoom);
+ this.viewport.moveCenter(pos.target.x, pos.target.y);
+ }
+}
\ No newline at end of file
diff --git a/docs-examples/2d/javascript/src/snippets/joints.ts b/docs-examples/2d/javascript/src/snippets/joints.ts
new file mode 100644
index 0000000..0972ced
--- /dev/null
+++ b/docs-examples/2d/javascript/src/snippets/joints.ts
@@ -0,0 +1,41 @@
+import RAPIER from '@dimforge/rapier2d';
+
+
+let world = new RAPIER.World({ x: 0.0, y: -9.81 });
+let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic();
+let body1 = world.createRigidBody(rigidBodyDesc);
+let body2 = world.createRigidBody(rigidBodyDesc);
+
+{
+
+ // DOCUSAURUS: FixedJoint start
+ let params = RAPIER.JointData.fixed({ x: 0.0, y: 0.0 }, 0.0, { x: 0.0, y: -2.0 }, 0.0);
+ let joint = world.createImpulseJoint(params, body1, body2, true);
+ // DOCUSAURUS: FixedJoint stop
+}
+
+{
+ // DOCUSAURUS: RevoluteJoint start
+ let params = RAPIER.JointData.revolute({ x: 0.0, y: 1.0 }, { x: 0.0, y: -3.0 });
+ let joint = world.createImpulseJoint(params, body1, body2, true);
+ // DOCUSAURUS: RevoluteJoint stop
+}
+
+{
+ // DOCUSAURUS: PrismaticJoint start
+ let x = { x: 1.0, y: 0.0 };
+ let params = RAPIER.JointData.prismatic({ x: 0.0, y: 0.0 }, x, { x: 0.0, y: -3.0 });
+ params.limitsEnabled = true;
+ params.limits = [-2.0, 5.0];
+ let joint = world.createImpulseJoint(params, body1, body2, true);
+ // DOCUSAURUS: PrismaticJoint stop
+}
+
+{
+ // DOCUSAURUS: Motor start
+ let x = { x: 1.0, y: 0.0 };
+ let params = RAPIER.JointData.prismatic({ x: 0.0, y: 0.0 }, { x: 0.0, y: -3.0 }, x);
+ let joint = world.createImpulseJoint(params, body1, body2, true);
+ (joint as RAPIER.PrismaticImpulseJoint).configureMotorVelocity(1.0, 0.5);
+ // DOCUSAURUS: Motor stop
+}
diff --git a/docs-examples/2d/javascript/src/snippets/rigid_bodies.ts b/docs-examples/2d/javascript/src/snippets/rigid_bodies.ts
new file mode 100644
index 0000000..d93802a
--- /dev/null
+++ b/docs-examples/2d/javascript/src/snippets/rigid_bodies.ts
@@ -0,0 +1,206 @@
+import RAPIER from '@dimforge/rapier2d';
+
+{
+ // DOCUSAURUS: Creation start
+ // The world that will contain our rigid-bodies.
+ let world = new RAPIER.World({ x: 0.0, y: -9.81 });
+
+ // Builder for a fixed rigid-body.
+ let example1 = RAPIER.RigidBodyDesc.fixed();
+ // Builder for a dynamic rigid-body.
+ let example2 = RAPIER.RigidBodyDesc.dynamic();
+ // Builder for a kinematic rigid-body controlled at the velocity level.
+ let example3 = RAPIER.RigidBodyDesc.kinematicVelocityBased();
+ // Builder for a kinematic rigid-body controlled at the position level.
+ let example4 = RAPIER.RigidBodyDesc.kinematicPositionBased();
+ // Builder for a body with a status specified by an enum.
+ let rigidBodyDesc = new RAPIER.RigidBodyDesc(RAPIER.RigidBodyType.Dynamic)
+ // The rigid body translation.
+ // Default: zero vector.
+ .setTranslation(0.0, 5.0)
+ // The rigid body rotation.
+ // Default: no rotation.
+ .setRotation(5.0)
+ // The linear velocity of this body.
+ // Default: zero velocity.
+ .setLinvel(1.0, 2.0)
+ // The angular velocity of this body.
+ // Default: zero velocity.
+ .setAngvel(2.0)
+ // The scaling factor applied to the gravity affecting the rigid-body.
+ // Default: 1.0
+ .setGravityScale(0.5)
+ // Whether or not this body can sleep.
+ // Default: true
+ .setCanSleep(true)
+ // Whether or not CCD is enabled for this rigid-body.
+ // Default: false
+ .setCcdEnabled(false);
+
+ // All done, actually build the rigid-body.
+ let rigidBody = world.createRigidBody(rigidBodyDesc);
+ // The integer handle of the rigid-body can be read from the `handle` field.
+ let rigidBodyHandle = rigidBody.handle;
+ // DOCUSAURUS: Creation stop
+
+ let position = rigidBody.translation();
+ console.log("Rigid-body position: ", position.x, position.y);
+}
+
+let world = new RAPIER.World({ x: 0.0, y: -9.81 });
+{
+ // DOCUSAURUS: Position1 start
+ /* Set the position when the rigid-body is created. */
+ let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic()
+ // The rigid body translation.
+ // Default: zero vector.
+ .setTranslation(0.0, 5.0)
+ // The rigid body rotation.
+ // Default: no rotation.
+ .setRotation(5.0);
+ let rigidBody = world.createRigidBody(rigidBodyDesc);
+ // DOCUSAURUS: Position1 stop
+
+ // DOCUSAURUS: Position2 start
+ /* Set the position after the rigid-body creation. */
+ // The `true` argument makes sure the rigid-body is awake.
+ rigidBody.setTranslation({ x: 0.0, y: 5.0 }, true);
+ rigidBody.setRotation(0.2, true);
+ // DOCUSAURUS: Position2 stop
+}
+
+{
+ // DOCUSAURUS: Velocity1 start
+ /* Set the velocities when the rigid-body is created. */
+ let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic()
+ // The linear velocity of this body.
+ // Default: zero velocity.
+ .setLinvel(1.0, 3.0)
+ // The angular velocity of this body.
+ // Default: zero velocity.
+ .setAngvel(3.0);
+ let rigidBody = world.createRigidBody(rigidBodyDesc);
+ // DOCUSAURUS: Velocity1 stop
+
+ // DOCUSAURUS: Velocity2 start
+ /* Set the velocities after the rigid-body creation. */
+ // The `true` argument makes sure the rigid-body is awake.
+ rigidBody.setLinvel({ x: 1.0, y: 3.0 }, true);
+ rigidBody.setAngvel(3.0, true);
+ // DOCUSAURUS: Velocity2 stop
+}
+
+{
+ // DOCUSAURUS: Gravity1 start
+ /* Set the gravity scale when the rigid-body is created. */
+ let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic()
+ .setGravityScale(2.0);
+ let rigidBody = world.createRigidBody(rigidBodyDesc);
+ // DOCUSAURUS: Gravity1 stop
+
+ // DOCUSAURUS: Gravity2 start
+ /* Set the gravity scale after the rigid-body creation. */
+ rigidBody.setGravityScale(2.0, true);
+ // DOCUSAURUS: Gravity2 stop
+
+ // DOCUSAURUS: Forces start
+ // The `true` argument makes sure the rigid-body is awake.
+ rigidBody.resetForces(true); // Reset the forces to zero.
+ rigidBody.resetTorques(true); // Reset the torques to zero.
+ rigidBody.addForce({ x: 0.0, y: 1000.0 }, true);
+ rigidBody.addTorque(100.0, true);
+ rigidBody.addForceAtPoint({ x: 0.0, y: 1000.0 }, { x: 1.0, y: 2.0 }, true);
+
+ rigidBody.applyImpulse({ x: 0.0, y: 1000.0 }, true);
+ rigidBody.applyTorqueImpulse(100.0, true);
+ rigidBody.applyImpulseAtPoint({ x: 0.0, y: 1000.0 }, { x: 1.0, y: 2.0 }, true);
+ // DOCUSAURUS: Forces stop
+}
+
+{
+ // DOCUSAURUS: Mass1 start
+ let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic();
+ let rigidBody = world.createRigidBody(rigidBodyDesc);
+ // The default density is 1.0, we are setting 2.0 for this example.
+ let colliderDesc = RAPIER.ColliderDesc.ball(1.0).setDensity(2.0);
+ // When the collider is attached, the rigid-body's mass and angular
+ // inertia is automatically updated to take the collider into account.
+ world.createCollider(colliderDesc, rigidBody);
+ // DOCUSAURUS: Mass1 stop
+}
+
+{
+ // DOCUSAURUS: Mass2 start
+ /* Set the mass-properties when the rigid-body is created. */
+ let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic()
+ .setAdditionalMass(0.5)
+ // Sets both the mass and angular inertia at once.
+ .setAdditionalMassProperties(
+ 0.5, // Mass.
+ { x: 0.0, y: 1.0 }, // Center of mass.
+ 0.3 // Principal angular inertia.
+ );
+ let rigidBody = world.createRigidBody(rigidBodyDesc);
+ // DOCUSAURUS: Mass2 stop
+}
+
+{
+ // DOCUSAURUS: LockedAxes1 start
+ /* Lock translations/rotations when the rigid-body is created. */
+ let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic()
+ .lockTranslations() // prevent translations along along all axes.
+ .lockRotations(); // prevent rotations.
+ let rigidBody = world.createRigidBody(rigidBodyDesc);
+ // DOCUSAURUS: LockedAxes1 stop
+
+ // DOCUSAURUS: LockedAxes2 start
+ /* Lock translations/rotations after the rigid-body creation. */
+ // The last `true` argument makes sure the rigid-body is awake.
+ rigidBody.lockTranslations(true, true);
+ rigidBody.lockRotations(true, true);
+ // DOCUSAURUS: LockedAxes2 stop
+}
+
+{
+ // DOCUSAURUS: Damping1 start
+ /* Set the damping coefficients when the rigid-body is created. */
+ let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic()
+ .setLinearDamping(0.5)
+ .setAngularDamping(1.0);
+ let rigidBody = world.createRigidBody(rigidBodyDesc);
+ // DOCUSAURUS: Damping1 stop
+
+ // DOCUSAURUS: Damping2 start
+ /* Set the damping coefficients after the rigid-body creation. */
+ rigidBody.setLinearDamping(0.5);
+ rigidBody.setAngularDamping(1.0);
+ // DOCUSAURUS: Damping2 stop
+}
+
+{
+ // DOCUSAURUS: Dominance1 start
+ /* Set the damping coefficients when the rigid-body is created. */
+ let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic()
+ .setDominanceGroup(10);
+ let rigidBody = world.createRigidBody(rigidBodyDesc);
+ // DOCUSAURUS: Dominance1 stop
+
+ // DOCUSAURUS: Dominance2 start
+ /* Set the damping coefficients after the rigid-body creation. */
+ rigidBody.setDominanceGroup(10);
+ // DOCUSAURUS: Dominance2 stop
+}
+
+{
+ // DOCUSAURUS: Ccd1 start
+ /* Enable CCD when the rigid-body is created. */
+ let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic()
+ .setCcdEnabled(true);
+ let rigidBody = world.createRigidBody(rigidBodyDesc);
+ // DOCUSAURUS: Ccd1 stop
+
+ // DOCUSAURUS: Ccd2 start
+ /* Enable CCD after the rigid-body creation. */
+ rigidBody.enableCcd(true);
+ // DOCUSAURUS: Ccd2 stop
+}
\ No newline at end of file
diff --git a/docs-examples/2d/javascript/src/snippets/scene_queries.ts b/docs-examples/2d/javascript/src/snippets/scene_queries.ts
new file mode 100644
index 0000000..33d8588
--- /dev/null
+++ b/docs-examples/2d/javascript/src/snippets/scene_queries.ts
@@ -0,0 +1,124 @@
+import RAPIER, { Collider, QueryFilterFlags, RigidBodyDesc } from '@dimforge/rapier2d';
+
+
+let world = new RAPIER.World({ x: 0.0, y: -9.81 });
+{
+
+ // DOCUSAURUS: Raycast start
+ let ray = new RAPIER.Ray({ x: 1.0, y: 2.0 }, { x: 0.0, y: 1.0 });
+ let maxToi = 4.0;
+ let solid = true;
+
+ let hit = world.castRay(ray, maxToi, solid);
+ if (hit != null) {
+ // The first collider hit has the handle `hit.colliderHandle` and it hit after
+ // the ray travelled a distance equal to `ray.dir * toi`.
+ let hitPoint = ray.pointAt(hit.timeOfImpact); // Same as: `ray.origin + ray.dir * toi`
+ console.log("Collider", hit.collider, "hit at point", hitPoint);
+ }
+
+ let hitWithNormal = world.castRayAndGetNormal(ray, maxToi, solid);
+ if (hitWithNormal != null) {
+ // This is similar to `QueryPipeline::cast_ray` illustrated above except
+ // that it also returns the normal of the collider shape at the hit point.
+ let hitPoint = ray.pointAt(hitWithNormal.timeOfImpact);
+ console.log("Collider", hitWithNormal.collider, "hit at point", hitPoint, "with normal", hitWithNormal.normal);
+ }
+
+ world.intersectionsWithRay(ray, maxToi, solid, (hit) => {
+ // Callback called on each collider hit by the ray.
+ let hitPoint = ray.pointAt(hit.timeOfImpact);
+ console.log("Collider", hit.collider, "hit at point", hitPoint, "with normal", hit.normal);
+ return true; // Return `false` instead if we want to stop searching for other hits.
+ });
+ // DOCUSAURUS: Raycast stop
+}
+
+{
+ let collider = world.createCollider(new RAPIER.ColliderDesc(new RAPIER.Ball(0.5)));
+ let rigidBody = world.createRigidBody(RAPIER.RigidBodyDesc.dynamic());
+ // DOCUSAURUS: Shapecast start
+ let shapePos = { x: 0.0, y: 1.0 };
+ let shapeRot = 0.2;
+ let shapeVel = { x: 0.1, y: 0.4 };
+ let shape = new RAPIER.Cuboid(1.0, 2.0);
+ let targetDistance = 0.0;
+ let maxToi = 4.0;
+ // Optional parameters:
+ let stopAtPenetration = true;
+ let filterFlags = QueryFilterFlags.EXCLUDE_DYNAMIC;
+ let filterGroups = 0x000b0001;
+ let filterExcludeCollider = collider;
+ let filterExcludeRigidBody = rigidBody;
+
+ let hit = world.castShape(shapePos, shapeRot, shapeVel, shape, targetDistance, maxToi,
+ stopAtPenetration, filterFlags, filterGroups, filterExcludeCollider, filterExcludeRigidBody);
+ if (hit != null) {
+ // The first collider hit has the handle `handle`. The `hit` is a
+ // structure containing details about the hit configuration.
+ console.log("Hit the collider", hit.collider, "at time", hit.time_of_impact);
+ }
+ // DOCUSAURUS: Shapecast stop
+}
+
+{
+ // DOCUSAURUS: PointProjection start
+ let point = { x: 1.0, y: 2.0 };
+ let solid = true;
+
+ let proj = world.projectPoint(point, solid);
+ if (proj != null) {
+ // The collider closest to the point has this `handle`.
+ console.log("Projected point on collider ", proj.collider, ". Point projection: ", proj.point);
+ console.log("Point was inside of the collider shape: {}", proj.isInside);
+ }
+
+ world.intersectionsWithPoint(point, (handle) => {
+ // Callback called on each collider with a shape containing the point.
+ console.log("The collider", handle, "contains the point.");
+ // Return `false` instead if we want to stop searching for other colliders containing this point.
+ return true;
+ });
+ // DOCUSAURUS: PointProjection stop
+}
+{
+ // DOCUSAURUS: IntersectionTest start
+ let shape = new RAPIER.Cuboid(1.0, 2.0);
+ let shapePos = { x: 1.0, y: 2.0 };
+ let shapeRot = 0.1;
+
+ world.intersectionsWithShape(shapePos, shapeRot, shape, (handle) => {
+ console.log("The collider", handle, "intersects our shape.");
+ return true; // Return `false` instead if we want to stop searching for other colliders that contain this point.
+ });
+
+ let aabbCenter = { x: -1.0, y: -2.0 };
+ let aabbHalfExtents = { x: 0.5, y: 0.6 };
+ world.collidersWithAabbIntersectingAabb(aabbCenter, aabbHalfExtents, (handle) => {
+ console.log("The collider", handle, "has an AABB intersecting our test AABB");
+ return true; // Return `false` instead if we want to stop searching for other colliders that contain this point.
+ });
+ // DOCUSAURUS: IntersectionTest stop
+}
+{
+ let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic();
+ let player_rigid_body = world.createRigidBody(rigidBodyDesc);
+ let collider = world.createCollider(new RAPIER.ColliderDesc(new RAPIER.Ball(0.5)));
+ let data = new Map();
+ data.set(collider.handle, 10);
+ // DOCUSAURUS: QueryFilter start
+ let ray = new RAPIER.Ray({ x: 1.0, y: 2.0 }, { x: 0.0, y: 1.0 });
+ let maxToi = 4.0;
+ let solid = true;
+
+ let filterFlags = QueryFilterFlags.EXCLUDE_DYNAMIC;
+ let filterGroups = 0x000b0001;
+ let filterExcludeRigidBody = player_rigid_body;
+ let filterPredicate = (collider: Collider) => data.get(collider.handle) == 10.0;
+
+ let hit = world.castRay(ray, maxToi, solid, filterFlags, filterGroups, null, filterExcludeRigidBody, filterPredicate);
+ if (hit != null) {
+ // Handle the hit.
+ }
+ // DOCUSAURUS: QueryFilter stop
+}
\ No newline at end of file
diff --git a/docs-examples/2d/javascript/src/snippets/standalone.js b/docs-examples/2d/javascript/src/snippets/standalone.js
new file mode 100644
index 0000000..9c98b83
--- /dev/null
+++ b/docs-examples/2d/javascript/src/snippets/standalone.js
@@ -0,0 +1,53 @@
+
+// DOCUSAURUS: NoBundler start
+import RAPIER from 'https://cdn.skypack.dev/@dimforge/rapier2d-compat';
+
+RAPIER.init().then(() => {
+ // Run the simulation.
+});
+
+// OR using the await syntax:
+async function run_simulation() {
+ await RAPIER.init();
+ // Run the simulation.
+ _run_simulation(RAPIER);
+}
+run_simulation()
+// DOCUSAURUS: NoBundler stop
+
+function _run_simulation(RAPIER) {
+ // Use the RAPIER module here.
+ let gravity = { x: 0.0, y: -9.81 };
+ let world = new RAPIER.World(gravity);
+
+ // Create the ground
+ let groundColliderDesc = RAPIER.ColliderDesc.cuboid(10.0, 0.1);
+ world.createCollider(groundColliderDesc);
+
+ // Create a dynamic rigid-body.
+ let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic()
+ .setTranslation(0.0, 1.0);
+ let rigidBody = world.createRigidBody(rigidBodyDesc);
+
+ // Create a cuboid collider attached to the dynamic rigidBody.
+ let colliderDesc = RAPIER.ColliderDesc.cuboid(0.5, 0.5);
+ let collider = world.createCollider(colliderDesc, rigidBody);
+
+ // Game loop. Replace by your own game loop system.
+ let gameLoop = () => {
+ // Step the simulation forward.
+ world.step();
+
+ // Get and print the rigid-body's position.
+ let position = rigidBody.translation();
+ console.log("Rigid-body position: ", position.x, position.y);
+
+ setTimeout(gameLoop, 16);
+ };
+
+ gameLoop();
+}
+
+
+
+
diff --git a/docs-examples/2d/javascript/static-web-server.toml b/docs-examples/2d/javascript/static-web-server.toml
new file mode 100644
index 0000000..c3ece1d
--- /dev/null
+++ b/docs-examples/2d/javascript/static-web-server.toml
@@ -0,0 +1,3 @@
+[general]
+cache-control-headers = false
+compression = false
diff --git a/docs-examples/2d/javascript/tsconfig.json b/docs-examples/2d/javascript/tsconfig.json
new file mode 100644
index 0000000..887c1d9
--- /dev/null
+++ b/docs-examples/2d/javascript/tsconfig.json
@@ -0,0 +1,14 @@
+{
+ "compilerOptions": {
+ "outDir": "./dist/",
+ "noImplicitAny": true,
+ "module": "es2022",
+ "target": "es2022",
+ "allowJs": true,
+ "moduleResolution": "node",
+ "allowSyntheticDefaultImports": true
+ },
+ "exclude": [
+ "./src_all/*"
+ ]
+}
\ No newline at end of file
diff --git a/docs-examples/2d/javascript/webpack.config.js b/docs-examples/2d/javascript/webpack.config.js
new file mode 100644
index 0000000..fdcc0b3
--- /dev/null
+++ b/docs-examples/2d/javascript/webpack.config.js
@@ -0,0 +1,25 @@
+const HtmlWebpackPlugin = require("html-webpack-plugin");
+const path = require('path');
+
+module.exports = {
+ entry: "./src/index.ts",
+ output: {
+ path: path.resolve(__dirname, 'public/dist'),
+ filename: 'main.js',
+ },
+ experiments: {
+ asyncWebAssembly: true
+ },
+ resolve: {
+ extensions: [".ts", ".js"],
+ },
+ module: {
+ rules: [
+ {
+ test: /\.tsx?$/,
+ use: "ts-loader",
+ exclude: [/node_modules/],
+ },
+ ],
+ },
+};
\ No newline at end of file
diff --git a/docs-examples/2d/rust/examples/rs_rigid_bodies2.rs b/docs-examples/2d/rust/examples/rs_rigid_bodies2.rs
index 2c9b811..a077e10 100644
--- a/docs-examples/2d/rust/examples/rs_rigid_bodies2.rs
+++ b/docs-examples/2d/rust/examples/rs_rigid_bodies2.rs
@@ -45,6 +45,8 @@ fn main() {
.ccd_enabled(false)
// All done, actually build the rigid-body.
.build();
+ // Insert the rigid-body into the set.
+ let rigid_body_handle = rigid_body_set.insert(rigid_body);
// DOCUSAURUS: Creation stop
// DOCUSAURUS: Position1 start
@@ -61,9 +63,9 @@ fn main() {
.position(Isometry::new(vector![1.0, 2.0], 0.4))
// All done, actually build the rigid-body.
.build();
+ // DOCUSAURUS: Position1 stop
// Insert the rigid-body into the set.
let rigid_body_handle = rigid_body_set.insert(rigid_body);
- // DOCUSAURUS: Position1 stop
// DOCUSAURUS: Position2 start
use nalgebra::UnitComplex;
@@ -93,9 +95,9 @@ fn main() {
.angvel(3.0)
// All done, actually build the rigid-body.
.build();
+ // DOCUSAURUS: Velocity1 stop
// Insert the rigid-body into the set.
let rigid_body_handle = rigid_body_set.insert(rigid_body);
- // DOCUSAURUS: Velocity1 stop
// DOCUSAURUS: Velocity2 start
/* Set the velocities after the rigid-body creation. */
diff --git a/docs-examples/2d/rust/examples/rs_scene_queries2.rs b/docs-examples/2d/rust/examples/rs_scene_queries2.rs
index 82dc2ef..8d2e400 100644
--- a/docs-examples/2d/rust/examples/rs_scene_queries2.rs
+++ b/docs-examples/2d/rust/examples/rs_scene_queries2.rs
@@ -206,7 +206,7 @@ fn intersection_section(
rigid_body_set: &RigidBodySet,
collider_set: &ColliderSet,
) {
- // DOCUSAURUS: Intersection start
+ // DOCUSAURUS: IntersectionTest start
let shape = Cuboid::new(vector![1.0, 2.0]);
let shape_pos = Isometry::new(vector![0.0, 1.0], 0.8);
let filter = QueryFilter::default();
@@ -223,5 +223,5 @@ fn intersection_section(
println!("The collider {:?} has an AABB intersecting our test AABB", handle);
true // Return `false` instead if we want to stop searching for other colliders that contain this point.
});
- // DOCUSAURUS: Intersection stop
+ // DOCUSAURUS: IntersectionTest stop
}
diff --git a/docs-examples/3d/javascript/.gitignore b/docs-examples/3d/javascript/.gitignore
new file mode 100644
index 0000000..6a7d6d8
--- /dev/null
+++ b/docs-examples/3d/javascript/.gitignore
@@ -0,0 +1,130 @@
+# Logs
+logs
+*.log
+npm-debug.log*
+yarn-debug.log*
+yarn-error.log*
+lerna-debug.log*
+.pnpm-debug.log*
+
+# Diagnostic reports (https://nodejs.org/api/report.html)
+report.[0-9]*.[0-9]*.[0-9]*.[0-9]*.json
+
+# Runtime data
+pids
+*.pid
+*.seed
+*.pid.lock
+
+# Directory for instrumented libs generated by jscoverage/JSCover
+lib-cov
+
+# Coverage directory used by tools like istanbul
+coverage
+*.lcov
+
+# nyc test coverage
+.nyc_output
+
+# Grunt intermediate storage (https://gruntjs.com/creating-plugins#storing-task-files)
+.grunt
+
+# Bower dependency directory (https://bower.io/)
+bower_components
+
+# node-waf configuration
+.lock-wscript
+
+# Compiled binary addons (https://nodejs.org/api/addons.html)
+build/Release
+
+# Dependency directories
+node_modules/
+jspm_packages/
+
+# Snowpack dependency directory (https://snowpack.dev/)
+web_modules/
+
+# TypeScript cache
+*.tsbuildinfo
+
+# Optional npm cache directory
+.npm
+
+# Optional eslint cache
+.eslintcache
+
+# Optional stylelint cache
+.stylelintcache
+
+# Microbundle cache
+.rpt2_cache/
+.rts2_cache_cjs/
+.rts2_cache_es/
+.rts2_cache_umd/
+
+# Optional REPL history
+.node_repl_history
+
+# Output of 'npm pack'
+*.tgz
+
+# Yarn Integrity file
+.yarn-integrity
+
+# dotenv environment variable files
+.env
+.env.development.local
+.env.test.local
+.env.production.local
+.env.local
+
+# parcel-bundler cache (https://parceljs.org/)
+.cache
+.parcel-cache
+
+# Next.js build output
+.next
+out
+
+# Nuxt.js build / generate output
+.nuxt
+dist
+
+# Gatsby files
+.cache/
+# Comment in the public line in if your project uses Gatsby and not Next.js
+# https://nextjs.org/blog/next-9-1#public-directory-support
+# public
+
+# vuepress build output
+.vuepress/dist
+
+# vuepress v2.x temp and cache directory
+.temp
+.cache
+
+# Docusaurus cache and generated files
+.docusaurus
+
+# Serverless directories
+.serverless/
+
+# FuseBox cache
+.fusebox/
+
+# DynamoDB Local files
+.dynamodb/
+
+# TernJS port file
+.tern-port
+
+# Stores VSCode versions used for testing VSCode extensions
+.vscode-test
+
+# yarn v2
+.yarn/cache
+.yarn/unplugged
+.yarn/build-state.yml
+.yarn/install-state.gz
+.pnp.*
\ No newline at end of file
diff --git a/docs-examples/3d/javascript/build.sh b/docs-examples/3d/javascript/build.sh
new file mode 100644
index 0000000..60572f8
--- /dev/null
+++ b/docs-examples/3d/javascript/build.sh
@@ -0,0 +1,3 @@
+#!/bin/sh
+
+rm -rf public/dist && mkdir -p public/dist && webpack --mode=development
\ No newline at end of file
diff --git a/docs-examples/3d/javascript/package-lock.json b/docs-examples/3d/javascript/package-lock.json
new file mode 100644
index 0000000..8f8f9da
--- /dev/null
+++ b/docs-examples/3d/javascript/package-lock.json
@@ -0,0 +1,5263 @@
+{
+ "name": "rapier_snippets_javascript2d",
+ "version": "1.0.0",
+ "lockfileVersion": 2,
+ "requires": true,
+ "packages": {
+ "": {
+ "name": "rapier_snippets_javascript2d",
+ "version": "1.0.0",
+ "license": "Apache-2.0",
+ "dependencies": {
+ "@dimforge/rapier3d": "0.13.1"
+ },
+ "devDependencies": {
+ "html-loader": "^5.0.0",
+ "html-webpack-plugin": "^5.6.0",
+ "pixi-viewport": "^4.37.0",
+ "pixi.js": "^6.3.2",
+ "ts-loader": "^9.5.1",
+ "wasm-pack": "^0.12.1",
+ "webpack-cli": "^5.1.4"
+ }
+ },
+ "node_modules/@dimforge/rapier3d": {
+ "version": "0.13.1",
+ "resolved": "https://registry.npmjs.org/@dimforge/rapier3d/-/rapier3d-0.13.1.tgz",
+ "integrity": "sha512-ITCUCqks70njfFt7S+AEynMw4mpNJLmVWkWDzePhe74YLRWbe4Pu8VOyks2hqHBeTCj2Ts7SE5xoyvg9VsyNMg=="
+ },
+ "node_modules/@discoveryjs/json-ext": {
+ "version": "0.5.7",
+ "resolved": "https://registry.npmjs.org/@discoveryjs/json-ext/-/json-ext-0.5.7.tgz",
+ "integrity": "sha512-dBVuXR082gk3jsFp7Rd/JI4kytwGHecnCoTtXFb7DB6CNHp4rg5k1bhg0nWdLGLnOV71lmDzGQaLMy8iPLY0pw==",
+ "dev": true,
+ "engines": {
+ "node": ">=10.0.0"
+ }
+ },
+ "node_modules/@jridgewell/gen-mapping": {
+ "version": "0.3.5",
+ "resolved": "https://registry.npmjs.org/@jridgewell/gen-mapping/-/gen-mapping-0.3.5.tgz",
+ "integrity": "sha512-IzL8ZoEDIBRWEzlCcRhOaCupYyN5gdIK+Q6fbFdPDg6HqX6jpkItn7DFIpW9LQzXG6Df9sA7+OKnq0qlz/GaQg==",
+ "dev": true,
+ "dependencies": {
+ "@jridgewell/set-array": "^1.2.1",
+ "@jridgewell/sourcemap-codec": "^1.4.10",
+ "@jridgewell/trace-mapping": "^0.3.24"
+ },
+ "engines": {
+ "node": ">=6.0.0"
+ }
+ },
+ "node_modules/@jridgewell/resolve-uri": {
+ "version": "3.1.2",
+ "resolved": "https://registry.npmjs.org/@jridgewell/resolve-uri/-/resolve-uri-3.1.2.tgz",
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+ "dev": true,
+ "engines": {
+ "node": ">=6.0.0"
+ }
+ },
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+ "version": "0.3.6",
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+ "dev": true,
+ "dependencies": {
+ "@jridgewell/gen-mapping": "^0.3.5",
+ "@jridgewell/trace-mapping": "^0.3.25"
+ }
+ },
+ "node_modules/@jridgewell/sourcemap-codec": {
+ "version": "1.4.15",
+ "resolved": "https://registry.npmjs.org/@jridgewell/sourcemap-codec/-/sourcemap-codec-1.4.15.tgz",
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+ "dev": true
+ },
+ "node_modules/@jridgewell/trace-mapping": {
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+ "resolved": "https://registry.npmjs.org/@jridgewell/trace-mapping/-/trace-mapping-0.3.25.tgz",
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+ "dev": true,
+ "dependencies": {
+ "@jridgewell/resolve-uri": "^3.1.0",
+ "@jridgewell/sourcemap-codec": "^1.4.14"
+ }
+ },
+ "node_modules/@pixi/accessibility": {
+ "version": "6.5.10",
+ "resolved": "https://registry.npmjs.org/@pixi/accessibility/-/accessibility-6.5.10.tgz",
+ "integrity": "sha512-URrI1H+1kjjHSyhY1QXcUZ8S3omdVTrXg5y0gndtpOhIelErBTC9NWjJfw6s0Rlmv5+x5VAitQTgw9mRiatDgw==",
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+ "@pixi/display": "6.5.10",
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+ },
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+ "peerDependencies": {
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+ "@pixi/core": "6.5.10",
+ "@pixi/settings": "6.5.10"
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diff --git a/docs-examples/3d/javascript/package.json b/docs-examples/3d/javascript/package.json
new file mode 100644
index 0000000..6048ded
--- /dev/null
+++ b/docs-examples/3d/javascript/package.json
@@ -0,0 +1,22 @@
+{
+ "name": "rapier_snippets_javascript3d",
+ "version": "1.0.0",
+ "description": "Javascript snippets from rapier.rs. Exists only to check it's compiling",
+ "scripts": {
+ "build": "bash build.sh",
+ "start": "static-web-server -w static-web-server.toml",
+ "preview": "npm run build && npm run start"
+ },
+ "author": "",
+ "license": "Apache-2.0",
+ "devDependencies": {
+ "html-loader": "^5.0.0",
+ "html-webpack-plugin": "^5.6.0",
+ "ts-loader": "^9.5.1",
+ "wasm-pack": "^0.12.1",
+ "webpack-cli": "^5.1.4"
+ },
+ "dependencies": {
+ "@dimforge/rapier3d": "0.13.1"
+ }
+}
\ No newline at end of file
diff --git a/docs-examples/3d/javascript/public/index.html b/docs-examples/3d/javascript/public/index.html
new file mode 100644
index 0000000..2ae6f2f
--- /dev/null
+++ b/docs-examples/3d/javascript/public/index.html
@@ -0,0 +1,23 @@
+
+
+
+
+
+
+
+
+
+
+
+ If nothing is displayed, this example probably outputs something in the console.
+
+
+
\ No newline at end of file
diff --git a/docs-examples/3d/javascript/src/index.ts b/docs-examples/3d/javascript/src/index.ts
new file mode 100644
index 0000000..5324086
--- /dev/null
+++ b/docs-examples/3d/javascript/src/index.ts
@@ -0,0 +1,7 @@
+require('./snippets/character_controller')
+require('./snippets/colliders')
+require('./snippets/getting_started')
+require('./snippets/joints')
+require('./snippets/rigid_bodies')
+require('./snippets/scene_queries')
+require('./snippets/standalone')
diff --git a/docs-examples/3d/javascript/src/snippets/character_controller.ts b/docs-examples/3d/javascript/src/snippets/character_controller.ts
new file mode 100644
index 0000000..a2691fa
--- /dev/null
+++ b/docs-examples/3d/javascript/src/snippets/character_controller.ts
@@ -0,0 +1,12 @@
+import RAPIER from '@dimforge/rapier3d';
+
+
+let world = new RAPIER.World({ x: 0.0, y: -9.81, z: 0.0 });
+
+{
+ // DOCUSAURUS: UpVector start
+ let characterController = world.createCharacterController(0.01);
+ // Change the character controller’s up vector to the positive Z axis.
+ characterController.setUp({ x: 0.0, y: 0.0, z: 1.0 });
+ // DOCUSAURUS: UpVector stop
+}
\ No newline at end of file
diff --git a/docs-examples/3d/javascript/src/snippets/colliders.ts b/docs-examples/3d/javascript/src/snippets/colliders.ts
new file mode 100644
index 0000000..28024bf
--- /dev/null
+++ b/docs-examples/3d/javascript/src/snippets/colliders.ts
@@ -0,0 +1,104 @@
+import RAPIER, { Vector3, ColliderDesc } from '@dimforge/rapier3d';
+
+{
+ let vertices = new Float32Array([-1.0, -1.0, 0.0, 1.0, -1.0, 0.0, 1.0, 1.0, 0.0]);
+ let indices = new Uint32Array([0, 2, 1]);
+ let heights = new Float32Array([0.0, 1.0, 0.5, 0.9]);
+ let scale = new Vector3(1.0, 1.0, 1.0);
+
+ // DOCUSAURUS: Creation start
+ // The physics world.
+ let world = new RAPIER.World({ x: 0.0, y: -9.81, z: 0.0 });
+
+ // Builder for a ball-shaped collider.
+ let example1 = RAPIER.ColliderDesc.ball(0.5);
+ // Builder for a cuboid-shaped collider.
+ let example2 = RAPIER.ColliderDesc.cuboid(0.5, 0.2, 0.1);
+ // Builder for a capsule-shaped collider. The capsule principal axis is the `y` coordinate axis.
+ let example3 = RAPIER.ColliderDesc.capsule(0.5, 0.2);
+ // Builder for a triangle-mesh-shaped collider.
+ let example4 = RAPIER.ColliderDesc.trimesh(vertices, indices);
+ // Builder for a heightfield-shaped collider.
+ let example5 = RAPIER.ColliderDesc.heightfield(2, 2, heights, scale);
+ // Builder for a collider with the given shape.
+ let colliderDesc = new RAPIER.ColliderDesc(new RAPIER.Ball(0.5))
+ // The collider translation wrt. the body it is attached to.
+ // Default: the zero vector.
+ .setTranslation(1.0, 2.0, 3.0)
+ // The collider rotation wrt. the body it is attached to, as a unit quaternion.
+ // Default: the identity rotation.
+ .setRotation({ w: 1.0, x: 0.0, y: 0.0, z: 0.0 })
+ // The collider density. If non-zero the collider's mass and angular inertia will be added
+ // to the inertial properties of the body it is attached to.
+ // Default: 1.0
+ .setDensity(1.3)
+ // The friction coefficient of this collider.
+ // Default: 0.5
+ .setFriction(0.8)
+ // Whether this collider is a sensor.
+ // Default: false
+ .setSensor(true);
+
+ // Create the collider, without attaching it to a rigid-body.
+ let handle = world.createCollider(colliderDesc);
+ // Or create the collider and attach it to a rigid-body.
+ let rigidBody = world.createRigidBody(RAPIER.RigidBodyDesc.dynamic());
+ let collider = world.createCollider(colliderDesc, rigidBody);
+ // DOCUSAURUS: Creation stop
+
+ let position = rigidBody.translation();
+ console.log("Rigid-body position: ", position.x, position.y);
+}
+
+let world = new RAPIER.World({ x: 0.0, y: -9.81, z: 0.0 });
+{
+ // DOCUSAURUS: Mass start
+ let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic();
+ let rigidBody = world.createRigidBody(rigidBodyDesc);
+ // First option: by setting the density of the collider (or we could just leave
+ // its default value 1.0).
+ let colliderDesc = RAPIER.ColliderDesc.cuboid(1.0, 2.0, 1.0)
+ .setDensity(2.0);
+ // Second option: by setting the mass of the collider.
+ let colliderDesc2 = RAPIER.ColliderDesc.cuboid(1.0, 2.0, 1.0)
+ .setMass(0.8);
+ // Third option: by setting the mass-properties explicitly.
+ let colliderDesc3 = RAPIER.ColliderDesc.cuboid(1.0, 2.0, 1.0)
+ .setMassProperties(0.5, { x: 0.0, y: 1.0, z: 0.0 }, { x: 0.3, y: 0.2, z: 0.1 }, { w: 1.0, x: 0.0, y: 0.0, z: 0.0 });
+ // When the collider is attached, the rigid-body's mass and angular
+ // inertia is automatically updated to take the collider into account.
+ let collider = world.createCollider(colliderDesc, rigidBody);
+ // DOCUSAURUS: Mass stop
+}
+
+{
+ // DOCUSAURUS: Position1 start
+ /* Set the collider position when the collider is created. */
+ let colliderDesc = RAPIER.ColliderDesc.ball(0.5)
+ .setTranslation(1.0, 2.0, 3.0)
+ .setRotation({ w: 1.0, x: 0.0, y: 0.0, z: 0.0 });
+ let collider = world.createCollider(colliderDesc);
+ // DOCUSAURUS: Position1 stop
+
+ // DOCUSAURUS: Position2 start
+ /* Set the collider position after the collider creation. */
+ collider.setTranslation({ x: 1.0, y: 2.0, z: 3.0 });
+ collider.setRotation({ w: 1.0, x: 0.0, y: 0.0, z: 0.0 });
+ // DOCUSAURUS: Position2 stop
+}
+{
+ // DOCUSAURUS: Position3 start
+ let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic();
+ let rigidBody = world.createRigidBody(rigidBodyDesc);
+ let colliderDesc = RAPIER.ColliderDesc.ball(0.5)
+ .setTranslation(1.0, 2.0, 3.0);
+ // Attach the collider to the rigid-body. The collider's position wrt. the rigid-body
+ // is automatically set to the collider current position when this method is called.
+ let collider = world.createCollider(colliderDesc, rigidBody);
+ // DOCUSAURUS: Position3 stop
+
+ // DOCUSAURUS: Position4 start
+ /* Set the collider position wrt. its parent after the collider creation. */
+ collider.setTranslationWrtParent({ x: 1.0, y: 2.0, z: 3.0 });
+ // DOCUSAURUS: Position4 stop
+}
\ No newline at end of file
diff --git a/docs-examples/3d/javascript/src/snippets/getting_started.ts b/docs-examples/3d/javascript/src/snippets/getting_started.ts
new file mode 100644
index 0000000..d6e19af
--- /dev/null
+++ b/docs-examples/3d/javascript/src/snippets/getting_started.ts
@@ -0,0 +1,34 @@
+// DOCUSAURUS: basic_sim start
+import('@dimforge/rapier3d').then(RAPIER => {
+ // Use the RAPIER module here.
+ let gravity = { x: 0.0, y: -9.81, z: 0.0 };
+ let world = new RAPIER.World(gravity);
+
+ // Create the ground
+ let groundColliderDesc = RAPIER.ColliderDesc.cuboid(10.0, 0.1, 10.0);
+ world.createCollider(groundColliderDesc);
+
+ // Create a dynamic rigid-body.
+ let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic()
+ .setTranslation(0.0, 1.0, 0.0);
+ let rigidBody = world.createRigidBody(rigidBodyDesc);
+
+ // Create a cuboid collider attached to the dynamic rigidBody.
+ let colliderDesc = RAPIER.ColliderDesc.cuboid(0.5, 0.5, 0.5);
+ let collider = world.createCollider(colliderDesc, rigidBody);
+
+ // Game loop. Replace by your own game loop system.
+ let gameLoop = () => {
+ // Step the simulation forward.
+ world.step();
+
+ // Get and print the rigid-body's position.
+ let position = rigidBody.translation();
+ console.log("Rigid-body position: ", position.x, position.y);
+
+ setTimeout(gameLoop, 16);
+ };
+
+ gameLoop();
+})
+// DOCUSAURUS: basic_sim stop
\ No newline at end of file
diff --git a/docs-examples/3d/javascript/src/snippets/joints.ts b/docs-examples/3d/javascript/src/snippets/joints.ts
new file mode 100644
index 0000000..60f68f2
--- /dev/null
+++ b/docs-examples/3d/javascript/src/snippets/joints.ts
@@ -0,0 +1,54 @@
+import RAPIER from '@dimforge/rapier3d';
+
+
+let world = new RAPIER.World({ x: 0.0, y: -9.81, z: 0.0 });
+let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic();
+let body1 = world.createRigidBody(rigidBodyDesc);
+let body2 = world.createRigidBody(rigidBodyDesc);
+
+{
+
+ // DOCUSAURUS: FixedJoint start
+ let params = RAPIER.JointData.fixed(
+ { x: 0.0, y: 0.0, z: 0.0 }, { w: 1.0, x: 0.0, y: 0.0, z: 0.0 },
+ { x: 0.0, y: -2.0, z: 0.0 }, { w: 1.0, x: 0.0, y: 0.0, z: 0.0 }
+ );
+ let joint = world.createImpulseJoint(params, body1, body2, true);
+ // DOCUSAURUS: FixedJoint stop
+}
+
+{
+ // DOCUSAURUS: SphericalJoint start
+ let params = RAPIER.JointData.spherical({ x: 0.0, y: 0.0, z: 1.0 }, { x: 0.0, y: 0.0, z: -3.0 });
+ let joint = world.createImpulseJoint(params, body1, body2, true);
+ // DOCUSAURUS: SphericalJoint stop
+}
+
+{
+ // DOCUSAURUS: RevoluteJoint start
+ let x = { x: 1.0, y: 0.0, z: 0.0 };
+ let params = RAPIER.JointData.revolute({ x: 0.0, y: 0.0, z: 1.0 }, { x: 0.0, y: 0.0, z: -3.0 }, x);
+ let joint = world.createImpulseJoint(params, body1, body2, true);
+ // DOCUSAURUS: RevoluteJoint stop
+}
+
+{
+ // DOCUSAURUS: PrismaticJoint start
+ let x = { x: 1.0, y: 0.0, z: 0.0 };
+ let z = { x: 0.0, y: 0.0, z: 1.0 };
+ let params = RAPIER.JointData.prismatic({ x: 0.0, y: 0.0, z: 1.0 }, x, z);
+ params.limitsEnabled = true;
+ params.limits = [-2.0, 5.0];
+ let joint = world.createImpulseJoint(params, body1, body2, true);
+ // DOCUSAURUS: PrismaticJoint stop
+}
+
+{
+ // DOCUSAURUS: Motor start
+ let x = { x: 1.0, y: 0.0, z: 0.0 };
+ let z = { x: 0.0, y: 0.0, z: 1.0 };
+ let params = RAPIER.JointData.prismatic({ x: 0.0, y: 0.0, z: 1.0 }, { x: 0.0, y: 0.0, z: -3.0 }, x);
+ let joint = world.createImpulseJoint(params, body1, body2, true);
+ (joint as RAPIER.PrismaticImpulseJoint).configureMotorVelocity(1.0, 0.5);
+ // DOCUSAURUS: Motor stop
+}
diff --git a/docs-examples/3d/javascript/src/snippets/rigid_bodies.ts b/docs-examples/3d/javascript/src/snippets/rigid_bodies.ts
new file mode 100644
index 0000000..7618642
--- /dev/null
+++ b/docs-examples/3d/javascript/src/snippets/rigid_bodies.ts
@@ -0,0 +1,144 @@
+import RAPIER from '@dimforge/rapier3d';
+
+{
+ // DOCUSAURUS: Creation start
+ // The world that will contain our rigid-bodies.
+ let world = new RAPIER.World({ x: 0.0, y: -9.81, z: 0.0 });
+
+ // Builder for a fixed rigid-body.
+ let example1 = RAPIER.RigidBodyDesc.fixed();
+ // Builder for a dynamic rigid-body.
+ let example2 = RAPIER.RigidBodyDesc.dynamic();
+ // Builder for a kinematic rigid-body controlled at the velocity level.
+ let example3 = RAPIER.RigidBodyDesc.kinematicVelocityBased();
+ // Builder for a kinematic rigid-body controlled at the position level.
+ let example4 = RAPIER.RigidBodyDesc.kinematicPositionBased();
+ // Builder for a body with a status specified by an enum.
+ let rigidBodyDesc = new RAPIER.RigidBodyDesc(RAPIER.RigidBodyType.Dynamic)
+ // The rigid body translation.
+ // Default: zero vector.
+ .setTranslation(0.0, 5.0, 1.0)
+ // The rigid body rotation, given as a quaternion.
+ // Default: no rotation.
+ .setRotation({ w: 1.0, x: 0.0, y: 0.0, z: 0.0 })
+ // The linear velocity of this body.
+ // Default: zero velocity.
+ .setLinvel(1.0, 3.0, 4.0)
+ // The angular velocity of this body.
+ // Default: zero velocity.
+ .setAngvel({ x: 3.0, y: 0.0, z: 1.0 })
+ // The scaling factor applied to the gravity affecting the rigid-body.
+ // Default: 1.0
+ .setGravityScale(0.5)
+ // Whether or not this body can sleep.
+ // Default: true
+ .setCanSleep(true)
+ // Whether or not CCD is enabled for this rigid-body.
+ // Default: false
+ .setCcdEnabled(false);
+
+ // All done, actually build the rigid-body.
+ let rigidBody = world.createRigidBody(rigidBodyDesc);
+ // The integer handle of the rigid-body can be read from the `handle` field.
+ let rigidBodyHandle = rigidBody.handle;
+ // DOCUSAURUS: Creation stop
+
+ let position = rigidBody.translation();
+ console.log("Rigid-body position: ", position.x, position.y);
+}
+
+let world = new RAPIER.World({ x: 0.0, y: -9.81, z: 0.0 });
+{
+ // DOCUSAURUS: Position1 start
+ /* Set the position when the rigid-body is created. */
+ let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic()
+ // The rigid body translation.
+ // Default: zero vector.
+ .setTranslation(0.0, 5.0, 1.0)
+ // The rigid body rotation, given as a quaternion.
+ // Default: no rotation.
+ .setRotation({ w: 1.0, x: 0.0, y: 0.0, z: 0.0 });
+ let rigidBody = world.createRigidBody(rigidBodyDesc);
+ // DOCUSAURUS: Position1 stop
+
+ // DOCUSAURUS: Position2 start
+ /* Set the position after the rigid-body creation. */
+ // The `true` argument makes sure the rigid-body is awake.
+ rigidBody.setTranslation({ x: 0.0, y: 5.0, z: 1.0 }, true);
+ rigidBody.setRotation({ w: 1.0, x: 0.0, y: 0.0, z: 0.0 }, true);
+ // DOCUSAURUS: Position2 stop
+}
+
+{
+ // DOCUSAURUS: Velocity1 start
+ /* Set the velocities when the rigid-body is created. */
+ let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic()
+ // The linear velocity of this body.
+ // Default: zero velocity.
+ .setLinvel(1.0, 3.0, 4.0)
+ // The angular velocity of this body.
+ // Default: zero velocity.
+ .setAngvel({ x: 3.0, y: 0.0, z: 0.0 });
+ let rigidBody = world.createRigidBody(rigidBodyDesc);
+ // DOCUSAURUS: Velocity1 stop
+
+ // DOCUSAURUS: Velocity2 start
+ /* Set the velocities after the rigid-body creation. */
+ // The `true` argument makes sure the rigid-body is awake.
+ rigidBody.setLinvel({ x: 1.0, y: 3.0, z: 4.0 }, true);
+ rigidBody.setAngvel({ x: 3.0, y: 0.0, z: 0.0 }, true);
+ // DOCUSAURUS: Velocity2 stop
+}
+
+{
+ let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic();
+ let rigidBody = world.createRigidBody(rigidBodyDesc);
+
+ // DOCUSAURUS: Forces start
+ // The `true` argument makes sure the rigid-body is awake.
+ rigidBody.resetForces(true); // Reset the forces to zero.
+ rigidBody.resetTorques(true); // Reset the torques to zero.
+ rigidBody.addForce({ x: 0.0, y: 1000.0, z: 0.0 }, true);
+ rigidBody.addTorque({ x: 100.0, y: 0.0, z: 0.0 }, true);
+ rigidBody.addForceAtPoint({ x: 0.0, y: 1000.0, z: 0.0 }, { x: 1.0, y: 2.0, z: 3.0 }, true);
+
+ rigidBody.applyImpulse({ x: 0.0, y: 1000.0, z: 0.0 }, true);
+ rigidBody.applyTorqueImpulse({ x: 100.0, y: 0.0, z: 0.0 }, true);
+ rigidBody.applyImpulseAtPoint({ x: 0.0, y: 1000.0, z: 0.0 }, { x: 1.0, y: 2.0, z: 3.0 }, true);
+ // DOCUSAURUS: Forces stop
+}
+
+{
+ // DOCUSAURUS: Mass2 start
+ /* Set the mass-properties when the rigid-body is created. */
+ let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic()
+ .setAdditionalMass(0.5)
+ // Sets both the mass and angular inertia at once.
+ .setAdditionalMassProperties(
+ 0.5, // Mass.
+ { x: 0.0, y: 1.0, z: 0.0 }, // Center of mass.
+ { x: 0.3, y: 0.2, z: 0.1 }, // Principal angular inertia.
+ { w: 1.0, x: 0.0, y: 0.0, z: 0.0 } // Principal angular inertia frame (unit quaternion).
+ );
+ let rigidBody = world.createRigidBody(rigidBodyDesc);
+ // DOCUSAURUS: Mass2 stop
+}
+
+{
+ // DOCUSAURUS: LockedAxes1 start
+ /* Lock translations/rotations when the rigid-body is created. */
+ let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic()
+ .lockTranslations() // prevent translations along along all axes.
+ .lockRotations() // prevent rotations along all axes.
+ .enabledRotations(true, false, false); // only enable rotations along the X axis.
+ let rigidBody = world.createRigidBody(rigidBodyDesc);
+ // DOCUSAURUS: LockedAxes1 stop
+
+ // DOCUSAURUS: LockedAxes2 start
+ /* Lock translations/rotations after the rigid-body creation. */
+ // The last `true` argument makes sure the rigid-body is awake.
+ rigidBody.lockTranslations(true, true);
+ rigidBody.lockRotations(true, true);
+ rigidBody.setEnabledRotations(true, false, false, true);
+ // DOCUSAURUS: LockedAxes2 stop
+}
diff --git a/docs-examples/3d/javascript/src/snippets/rigid_bodies.ts~Stashed changes b/docs-examples/3d/javascript/src/snippets/rigid_bodies.ts~Stashed changes
new file mode 100644
index 0000000..9f9fb24
--- /dev/null
+++ b/docs-examples/3d/javascript/src/snippets/rigid_bodies.ts~Stashed changes
@@ -0,0 +1,146 @@
+import RAPIER, { RigidBodyDesc, RigidBodyType } from '@dimforge/rapier3d';
+
+{
+ // DOCUSAURUS: Creation start
+ // The world that will contain our rigid-bodies.
+ let world = new RAPIER.World({ x: 0.0, y: -9.81, z: 0.0 });
+
+ // Builder for a fixed rigid-body.
+ let _1 = RigidBodyDesc.fixed();
+ // Builder for a dynamic rigid-body.
+ let _2 = RigidBodyDesc.dynamic();
+ // Builder for a kinematic rigid-body controlled at the velocity level.
+ let _3 = RigidBodyDesc.kinematicVelocityBased();
+ // Builder for a kinematic rigid-body controlled at the position level.
+ let _4 = RigidBodyDesc.kinematicPositionBased();
+ // Builder for a body with a status specified by an enum.
+ let rigidBodyDesc = new RAPIER.RigidBodyDesc(RigidBodyType.Dynamic)
+ // The rigid body translation.
+ // Default: zero vector.
+ .setTranslation(0.0, 5.0, 1.0)
+ // The rigid body rotation, given as a quaternion.
+ // Default: no rotation.
+ .setRotation({ w: 1.0, x: 0.0, y: 0.0, z: 0.0 })
+ // The linear velocity of this body.
+ // Default: zero velocity.
+ .setLinvel(1.0, 2.0, 4.0)
+ // The angular velocity of this body.
+ // Default: zero velocity.
+ .setAngvel({ x: 3.0, y: 0.0, z: 1.0 })
+ // The scaling factor applied to the gravity affecting the rigid-body.
+ // Default: 1.0
+ .setGravityScale(0.5)
+ // Whether or not this body can sleep.
+ // Default: true
+ .setCanSleep(true)
+ // Whether or not CCD is enabled for this rigid-body.
+ // Default: false
+ .setCcdEnabled(false);
+
+ // All done, actually build the rigid-body.
+ let rigidBody = world.createRigidBody(rigidBodyDesc);
+ // The integer handle of the rigid-body can be read from the `handle` field.
+ let rigidBodyHandle = rigidBody.handle;
+ // DOCUSAURUS: Creation stop
+
+ let position = rigidBody.translation();
+ console.log("Rigid-body position: ", position.x, position.y);
+}
+
+let world = new RAPIER.World({ x: 0.0, y: -9.81, z: 0.0 });
+{
+ // DOCUSAURUS: Position1 start
+ /* Set the position when the rigid-body is created. */
+ let rigidBodyDesc = RigidBodyDesc.dynamic()
+ // The rigid body translation.
+ // Default: zero vector.
+ .setTranslation(0.0, 5.0, 1.0)
+ // The rigid body rotation, given as a quaternion.
+ // Default: no rotation.
+ .setRotation({ w: 1.0, x: 0.0, y: 0.0, z: 0.0 });
+ let rigidBody = world.createRigidBody(rigidBodyDesc);
+ // DOCUSAURUS: Position1 stop
+
+ // DOCUSAURUS: Position2 start
+ /* Set the position after the rigid-body creation. */
+ // The `true` argument makes sure the rigid-body is awake.
+ rigidBody.setTranslation({ x: 0.0, y: 5.0, z: 1.0 }, true);
+ rigidBody.setRotation({ w: 1.0, x: 0.0, y: 0.0, z: 0.0 }, true);
+ // DOCUSAURUS: Position2 stop
+}
+
+{
+ // DOCUSAURUS: Velocity1 start
+ /* Set the velocities when the rigid-body is created. */
+ let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic()
+ // The linear velocity of this body.
+ // Default: zero velocity.
+ .setLinvel(1.0, 3.0, 4.0)
+ // The angular velocity of this body.
+ // Default: zero velocity.
+ .setAngvel({ x: 3.0, y: 0.0, z: 0.0 });
+ let rigidBody = world.createRigidBody(rigidBodyDesc);
+ // DOCUSAURUS: Velocity1 stop
+
+ // DOCUSAURUS: Velocity2 start
+ /* Set the velocities after the rigid-body creation. */
+ // The `true` argument makes sure the rigid-body is awake.
+ rigidBody.setLinvel({ x: 1.0, y: 3.0, z: 4.0 }, true);
+ rigidBody.setAngvel({ x: 3.0, y: 0.0, z: 0.0 }, true);
+ // DOCUSAURUS: Velocity2 stop
+}
+
+{
+ let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic();
+ let rigidBody = world.createRigidBody(rigidBodyDesc);
+
+ // DOCUSAURUS: Forces start
+ // The `true` argument makes sure the rigid-body is awake.
+ rigidBody.resetForces(true); // Reset the forces to zero.
+ rigidBody.resetTorques(true); // Reset the torques to zero.
+ rigidBody.addForce({ x: 0.0, y: 1000.0, z: 0.0 }, true);
+ rigidBody.addTorque({ x: 100.0, y: 0.0, z: 0.0 }, true);
+ rigidBody.addForceAtPoint({ x: 0.0, y: 1000.0, z: 0.0 }, { x: 1.0, y: 2.0, z: 3.0 }, true);
+
+ rigidBody.applyImpulse({ x: 0.0, y: 1000.0, z: 0.0 }, true);
+ rigidBody.applyTorqueImpulse({ x: 100.0, y: 0.0, z: 0.0 }, true);
+ rigidBody.applyImpulseAtPoint({ x: 0.0, y: 1000.0, z: 0.0 }, { x: 1.0, y: 2.0, z: 3.0 }, true);
+ // DOCUSAURUS: Forces stop
+}
+
+{
+ // DOCUSAURUS: Mass2 start
+ /* Set the mass-properties when the rigid-body is created. */
+ let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic()
+ .setAdditionalMass(0.5)
+ // Sets both the mass and angular inertia at once.
+ .setAdditionalMassProperties(
+ 0.5, // Mass.
+ { x: 0.0, y: 1.0, z: 0.0 }, // Center of mass.
+ { x: 0.3, y: 0.2, z: 0.1 }, // Principal angular inertia.
+ { w: 1.0, x: 0.0, y: 0.0, z: 0.0 } // Principal angular inertia frame (unit quaternion).
+ );
+ let rigidBody = world.createRigidBody(rigidBodyDesc);
+ // DOCUSAURUS: Mass2 stop
+}
+
+{
+ // DOCUSAURUS: LockedAxes1 start
+ /* Lock translations/rotations when the rigid-body is created. */
+ let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic()
+ .lockTranslations() // prevent translations along along all axes.
+ .lockRotations() // prevent rotations.
+ .enabledRotations(true, false, false); // only enable rotations along the X axis.
+ let rigidBody = world.createRigidBody(rigidBodyDesc);
+ // DOCUSAURUS: LockedAxes1 stop
+
+ // DOCUSAURUS: LockedAxes2 start
+ /* Lock translations/rotations after the rigid-body creation. */
+ // The last `true` argument makes sure the rigid-body is awake.
+ rigidBody.lockTranslations(true, true);
+ rigidBody.lockRotations(true, true);
+ rigidBody.setEnabledRotations(true, false, false, true);
+ // DOCUSAURUS: LockedAxes2 stop
+}
+
+}
\ No newline at end of file
diff --git a/docs-examples/3d/javascript/src/snippets/scene_queries.ts b/docs-examples/3d/javascript/src/snippets/scene_queries.ts
new file mode 100644
index 0000000..709fdd9
--- /dev/null
+++ b/docs-examples/3d/javascript/src/snippets/scene_queries.ts
@@ -0,0 +1,102 @@
+import RAPIER, { QueryFilterFlags } from '@dimforge/rapier3d';
+
+
+let world = new RAPIER.World({ x: 0.0, y: -9.81, z: 0.0 });
+{
+
+ // DOCUSAURUS: Raycast start
+ let ray = new RAPIER.Ray({ x: 1.0, y: 2.0, z: 3.0 }, { x: 0.0, y: 1.0, z: 0.0 });
+ let maxToi = 4.0;
+ let solid = true;
+
+ let hit = world.castRay(ray, maxToi, solid);
+ if (hit != null) {
+ // The first collider hit has the handle `hit.colliderHandle` and it hit after
+ // the ray travelled a distance equal to `ray.dir * toi`.
+ let hitPoint = ray.pointAt(hit.timeOfImpact); // Same as: `ray.origin + ray.dir * toi`
+ console.log("Collider", hit.collider, "hit at point", hitPoint);
+ }
+
+ let hitWithNormal = world.castRayAndGetNormal(ray, maxToi, solid);
+ if (hitWithNormal != null) {
+ // This is similar to `QueryPipeline::cast_ray` illustrated above except
+ // that it also returns the normal of the collider shape at the hit point.
+ let hitPoint = ray.pointAt(hitWithNormal.timeOfImpact);
+ console.log("Collider", hitWithNormal.collider, "hit at point", hitPoint, "with normal", hitWithNormal.normal);
+ }
+
+ world.intersectionsWithRay(ray, maxToi, solid, (hit) => {
+ // Callback called on each collider hit by the ray.
+ let hitPoint = ray.pointAt(hit.timeOfImpact);
+ console.log("Collider", hit.collider, "hit at point", hitPoint, "with normal", hit.normal);
+ return true; // Return `false` instead if we want to stop searching for other hits.
+ });
+ // DOCUSAURUS: Raycast stop
+}
+
+{
+ let collider = world.createCollider(new RAPIER.ColliderDesc(new RAPIER.Ball(0.5)));
+ let rigidBody = world.createRigidBody(RAPIER.RigidBodyDesc.dynamic());
+ // DOCUSAURUS: Shapecast start
+ let shapePos = { x: 0.0, y: 1.0, z: 0.0 };
+ let shapeRot = { w: 1.0, x: 0.0, y: 0.0, z: 0.0 };
+ let shapeVel = { x: 0.1, y: 0.4, z: 1.0 };
+ let shape = new RAPIER.Cuboid(1.0, 2.0, 3.0);
+ let targetDistance = 0.0;
+ let maxToi = 4.0;
+ // Optional parameters:
+ let stopAtPenetration = true;
+ let filterFlags = QueryFilterFlags.EXCLUDE_DYNAMIC;
+ let filterGroups = 0x000b0001;
+ let filterExcludeCollider = collider;
+ let filterExcludeRigidBody = rigidBody;
+
+ let hit = world.castShape(shapePos, shapeRot, shapeVel, shape, targetDistance, maxToi,
+ stopAtPenetration, filterFlags, filterGroups, filterExcludeCollider, filterExcludeRigidBody);
+ if (hit != null) {
+ // The first collider hit has the handle `handle`. The `hit` is a
+ // structure containing details about the hit configuration.
+ console.log("Hit the collider", hit.collider, "at time", hit.time_of_impact);
+ }
+ // DOCUSAURUS: Shapecast stop
+}
+
+{
+ // DOCUSAURUS: PointProjection start
+ let point = { x: 1.0, y: 2.0, z: 3.0 };
+ let solid = true;
+
+ let proj = world.projectPoint(point, solid);
+ if (proj != null) {
+ // The collider closest to the point has this `handle`.
+ console.log("Projected point on collider ", proj.collider, ". Point projection: ", proj.point);
+ console.log("Point was inside of the collider shape: {}", proj.isInside);
+ }
+
+ world.intersectionsWithPoint(point, (handle) => {
+ // Callback called on each collider with a shape containing the point.
+ console.log("The collider", handle, "contains the point.");
+ // Return `false` instead if we want to stop searching for other colliders containing this point.
+ return true;
+ });
+ // DOCUSAURUS: PointProjection stop
+}
+{
+ // DOCUSAURUS: IntersectionTest start
+ let shape = new RAPIER.Cuboid(1.0, 2.0, 3.0);
+ let shapePos = { x: 1.0, y: 2.0, z: 3.0 };
+ let shapeRot = { w: 1.0, x: 0.0, y: 0.0, z: 0.0 };
+
+ world.intersectionsWithShape(shapePos, shapeRot, shape, (handle) => {
+ console.log("The collider", handle, "intersects our shape.");
+ return true; // Return `false` instead if we want to stop searching for other colliders that contain this point.
+ });
+
+ let aabbCenter = { x: -1.0, y: -2.0, z: -3.0 };
+ let aabbHalfExtents = { x: 0.5, y: 0.6, z: 0.5 };
+ world.collidersWithAabbIntersectingAabb(aabbCenter, aabbHalfExtents, (handle) => {
+ console.log("The collider", handle, "has an AABB intersecting our test AABB");
+ return true; // Return `false` instead if we want to stop searching for other colliders that contain this point.
+ });
+ // DOCUSAURUS: IntersectionTest stop
+}
\ No newline at end of file
diff --git a/docs-examples/3d/javascript/src/snippets/standalone.js b/docs-examples/3d/javascript/src/snippets/standalone.js
new file mode 100644
index 0000000..d2ce743
--- /dev/null
+++ b/docs-examples/3d/javascript/src/snippets/standalone.js
@@ -0,0 +1,54 @@
+
+// DOCUSAURUS: NoBundler start
+import RAPIER from 'https://cdn.skypack.dev/@dimforge/rapier3d-compat';
+
+RAPIER.init().then(() => {
+ // Run the simulation.
+ _run_simulation(RAPIER);
+});
+
+// OR using the await syntax:
+async function run_simulation() {
+ await RAPIER.init();
+ // Run the simulation.
+ _run_simulation(RAPIER);
+}
+// DOCUSAURUS: NoBundler stop
+run_simulation()
+
+function _run_simulation(RAPIER) {
+ // Use the RAPIER module here.
+ let gravity = { x: 0.0, y: -9.81, z: 0.0 };
+ let world = new RAPIER.World(gravity);
+
+ // Create the ground
+ let groundColliderDesc = RAPIER.ColliderDesc.cuboid(10.0, 0.1, 10.0);
+ world.createCollider(groundColliderDesc);
+
+ // Create a dynamic rigid-body.
+ let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic()
+ .setTranslation(0.0, 1.0, 1.0);
+ let rigidBody = world.createRigidBody(rigidBodyDesc);
+
+ // Create a cuboid collider attached to the dynamic rigidBody.
+ let colliderDesc = RAPIER.ColliderDesc.cuboid(0.5, 0.5, 0.5);
+ let collider = world.createCollider(colliderDesc, rigidBody);
+
+ // Game loop. Replace by your own game loop system.
+ let gameLoop = () => {
+ // Step the simulation forward.
+ world.step();
+
+ // Get and print the rigid-body's position.
+ let position = rigidBody.translation();
+ console.log("Rigid-body position: ", position.x, position.y, position.z);
+
+ setTimeout(gameLoop, 16);
+ };
+
+ gameLoop();
+}
+
+
+
+
diff --git a/docs-examples/3d/javascript/static-web-server.toml b/docs-examples/3d/javascript/static-web-server.toml
new file mode 100644
index 0000000..c3ece1d
--- /dev/null
+++ b/docs-examples/3d/javascript/static-web-server.toml
@@ -0,0 +1,3 @@
+[general]
+cache-control-headers = false
+compression = false
diff --git a/docs-examples/3d/javascript/tsconfig.json b/docs-examples/3d/javascript/tsconfig.json
new file mode 100644
index 0000000..887c1d9
--- /dev/null
+++ b/docs-examples/3d/javascript/tsconfig.json
@@ -0,0 +1,14 @@
+{
+ "compilerOptions": {
+ "outDir": "./dist/",
+ "noImplicitAny": true,
+ "module": "es2022",
+ "target": "es2022",
+ "allowJs": true,
+ "moduleResolution": "node",
+ "allowSyntheticDefaultImports": true
+ },
+ "exclude": [
+ "./src_all/*"
+ ]
+}
\ No newline at end of file
diff --git a/docs-examples/3d/javascript/webpack.config.js b/docs-examples/3d/javascript/webpack.config.js
new file mode 100644
index 0000000..fdcc0b3
--- /dev/null
+++ b/docs-examples/3d/javascript/webpack.config.js
@@ -0,0 +1,25 @@
+const HtmlWebpackPlugin = require("html-webpack-plugin");
+const path = require('path');
+
+module.exports = {
+ entry: "./src/index.ts",
+ output: {
+ path: path.resolve(__dirname, 'public/dist'),
+ filename: 'main.js',
+ },
+ experiments: {
+ asyncWebAssembly: true
+ },
+ resolve: {
+ extensions: [".ts", ".js"],
+ },
+ module: {
+ rules: [
+ {
+ test: /\.tsx?$/,
+ use: "ts-loader",
+ exclude: [/node_modules/],
+ },
+ ],
+ },
+};
\ No newline at end of file
diff --git a/docs-examples/3d/rust/examples/rs_rigid_bodies3.rs b/docs-examples/3d/rust/examples/rs_rigid_bodies3.rs
index 819cd94..088ca6a 100644
--- a/docs-examples/3d/rust/examples/rs_rigid_bodies3.rs
+++ b/docs-examples/3d/rust/examples/rs_rigid_bodies3.rs
@@ -46,9 +46,8 @@ fn main() {
.ccd_enabled(false)
// All done, actually build the rigid-body.
.build();
-
// Insert the rigid-body into the set.
- let handle = rigid_body_set.insert(rigid_body);
+ let rigid_body_handle = rigid_body_set.insert(rigid_body);
// DOCUSAURUS: Creation stop
// DOCUSAURUS: Position1 start
@@ -68,9 +67,9 @@ fn main() {
))
// All done, actually build the rigid-body.
.build();
+ // DOCUSAURUS: Position1 stop
// Insert the rigid-body into the set.
let rigid_body_handle = rigid_body_set.insert(rigid_body);
- // DOCUSAURUS: Position1 stop
// DOCUSAURUS: Position2 start
/* Set the position after the rigid-body creation. */
@@ -102,9 +101,9 @@ fn main() {
.angvel(vector![3.0, 0.0, 0.0])
// All done, actually build the rigid-body.
.build();
+ // DOCUSAURUS: Velocity1 stop
// Insert the rigid-body into the set.
let rigid_body_handle = rigid_body_set.insert(rigid_body);
- // DOCUSAURUS: Velocity1 stop
// DOCUSAURUS: Velocity2 start
/* Set the velocities after the rigid-body creation. */
diff --git a/docs-examples/3d/rust/examples/rs_scene_queries3.rs b/docs-examples/3d/rust/examples/rs_scene_queries3.rs
index 36a776d..84d72de 100644
--- a/docs-examples/3d/rust/examples/rs_scene_queries3.rs
+++ b/docs-examples/3d/rust/examples/rs_scene_queries3.rs
@@ -169,7 +169,7 @@ fn intersection_section(
rigid_body_set: &RigidBodySet,
collider_set: &ColliderSet,
) {
- // DOCUSAURUS: Intersection start
+ // DOCUSAURUS: IntersectionTest start
let shape = Cuboid::new(vector![1.0, 2.0, 3.0]);
let shape_pos = Isometry::new(vector![0.0, 1.0, 0.0], vector![0.2, 0.7, 0.1]);
let filter = QueryFilter::default();
@@ -186,5 +186,5 @@ fn intersection_section(
println!("The collider {:?} has an AABB intersecting our test AABB", handle);
true // Return `false` instead if we want to stop searching for other colliders that contain this point.
});
- // DOCUSAURUS: Intersection stop
+ // DOCUSAURUS: IntersectionTest stop
}
diff --git a/docs/user_guides/templates/advanced_collision_detection_js.mdx b/docs/user_guides/templates/advanced_collision_detection_js.mdx
index 76d5d9d..84370af 100644
--- a/docs/user_guides/templates/advanced_collision_detection_js.mdx
+++ b/docs/user_guides/templates/advanced_collision_detection_js.mdx
@@ -25,18 +25,7 @@ Events can be collected by passing an instance of `EventQueue` to `World.step(ev
involved in each event is identified by its handle.
```js
-let eventQueue = new RAPIER.EventQueue(true);
-world.step(eventQueue);
-
-eventQueue.drainCollisionEvents((handle1, handle2, started) => {
- /* Handle the collision event. */
-});
-
-eventQueue.drainContactForceEvents(event => {
- let handle1 = event.collider1(); // Handle of the first collider involved in the event.
- let handle2 = event.collider2(); // Handle of the second collider involved in the event.
- /* Handle the contact force event. */
-});
+
```
:::warning
@@ -74,14 +63,7 @@ will be multiple contact manifolds, one for each piece that may result in an act
:::
```js
-world.contactsWith(collider, (otherCollider) => {
- // This closure is called on each collider object potentially
- // in contact with `collider`.
-});
-
-world.contactPair(collider1, collider2, (manifold, flipped) => {
- // Contact information can be read from `manifold`.
-});
+
```
## The intersection graph
@@ -100,12 +82,7 @@ instead of the intersection graph.
:::
```js
-world.intersectionsWith(collider, (otherCollider) => {
- // This closure is called on each collider potentially
- // intersecting the collider `collider`.
-});
-
-let intersections = world.intersectionPair(collider1, collider2);
+
```
## Physics hooks
diff --git a/docs/user_guides/templates/character_controller_collisions.mdx b/docs/user_guides/templates/character_controller_collisions.mdx
index de85f9b..9a82511 100644
--- a/docs/user_guides/templates/character_controller_collisions.mdx
+++ b/docs/user_guides/templates/character_controller_collisions.mdx
@@ -29,15 +29,7 @@ with A will be reported first, and the collision with B will be reported second.
```js
-let characterController = world.createCharacterController(0.01);
-characterController.computeColliderMovement(collider, desiredMovementVector);
-
-// After the collider movement calculation is done, we can read the
-// collision events.
-for (let i = 0; i < characterController.numComputedCollisions(); i++) {
- let collision = characterController.computedCollision(i);
- // Do something with that collision information.
-}
+
```
@@ -69,10 +61,7 @@ forces for you if needed:
```js
-let characterController = world.createCharacterController(0.01);
-// Enable the automatic application of impulses to the dynamic bodies
-// hit by the character along its path.
-characterController.setApplyImpulsesToDynamicBodies(true);
+
```
diff --git a/docs/user_guides/templates/character_controller_offset.mdx b/docs/user_guides/templates/character_controller_offset.mdx
index 2663df6..0b29967 100644
--- a/docs/user_guides/templates/character_controller_offset.mdx
+++ b/docs/user_guides/templates/character_controller_offset.mdx
@@ -25,9 +25,7 @@ to avoid numerical issues (if the character seems to get stuck inexplicably, try
```js
-// Here the character controller is initialized with an offset of 0.01.
-let offset = 0.01;
-let characterController = world.createCharacterController(0.01);
+
```
diff --git a/docs/user_guides/templates/character_controller_setup.mdx b/docs/user_guides/templates/character_controller_setup.mdx
index 71b5445..cfa109d 100644
--- a/docs/user_guides/templates/character_controller_setup.mdx
+++ b/docs/user_guides/templates/character_controller_setup.mdx
@@ -97,12 +97,7 @@ values={[
A new character controller can be created and removed by the physics `World`:
```js
-// The gap the controller will leave between the character and its environment.
-let offset = 0.01;
-// Create the controller.
-let characterController = world.createCharacterController(offset);
-// Remove the controller once we are done with it.
-world.removeCharacterController(characterController);
+
```
Note that the character controller does not store a reference to the rigid-body and collider it controls. Therefore, the
@@ -116,14 +111,7 @@ on its path. This is done in two steps:
position, kinematic velocity, or next kinematic position, depending on the situation.
```js
-let characterController = world.createCharacterController(offset);
-characterController.computeColliderMovement(
- collider, // The collider we would like to move.
- desiredTranslation, // The movement we would like to apply if there wasn’t any obstacle.
-);
-// Read the result.
-let correctedMovement = characterController.computedMovement();
-// TODO: apply this corrected movement by following the rules described bellow.
+
```
The recommended way to update the character’s position depends on its representation:
diff --git a/docs/user_guides/templates/character_controller_slopes.mdx b/docs/user_guides/templates/character_controller_slopes.mdx
index aaadd67..0cc637a 100644
--- a/docs/user_guides/templates/character_controller_slopes.mdx
+++ b/docs/user_guides/templates/character_controller_slopes.mdx
@@ -33,11 +33,7 @@ As always in Rapier, angles are specified in radians.
```js
-let characterController = world.createCharacterController(0.01);
-// Don’t allow climbing slopes larger than 45 degrees.
-characterController.setMaxSlopeClimbAngle(45 * Math.PI / 180);
-// Automatically slide down on slopes smaller than 30 degrees.
-characterController.setMinSlopeSlideAngle(30 * Math.PI / 180);
+
```
\ No newline at end of file
diff --git a/docs/user_guides/templates/character_controller_snap_to_ground.mdx b/docs/user_guides/templates/character_controller_snap_to_ground.mdx
index 5c9e6a7..f040532 100644
--- a/docs/user_guides/templates/character_controller_snap_to_ground.mdx
+++ b/docs/user_guides/templates/character_controller_snap_to_ground.mdx
@@ -33,11 +33,7 @@ Typical usages of snap-to-ground include going downstairs or remaining in contac
```js
-let characterController = world.createCharacterController(0.01);
-// Snap to the ground if the vertical distance to the ground is smaller than 0.5.
-characterController.enableSnapToGround(0.5);
-// Disable snap-to-ground.
-characterController.disableSnapToGround();
+
```
\ No newline at end of file
diff --git a/docs/user_guides/templates/character_controller_stairs.mdx b/docs/user_guides/templates/character_controller_stairs.mdx
index 5524a2c..e3eff76 100644
--- a/docs/user_guides/templates/character_controller_stairs.mdx
+++ b/docs/user_guides/templates/character_controller_stairs.mdx
@@ -43,12 +43,7 @@ This prevents the player from being teleported on to of a platform while it is i
```js
-let characterController = world.createCharacterController(0.01);
-// Autostep if the step height is smaller than 0.5, its width is larger than 0.2,
-// and allow stepping on dynamic bodies.
-characterController.enableAutostep(0.5, 0.2, true);
-// Disable autostep.
-characterController.disableAutostep();
+
```
\ No newline at end of file
diff --git a/docs/user_guides/templates/character_controller_up_vector.mdx b/docs/user_guides/templates/character_controller_up_vector.mdx
index da44ef2..dbf8d9f 100644
--- a/docs/user_guides/templates/character_controller_up_vector.mdx
+++ b/docs/user_guides/templates/character_controller_up_vector.mdx
@@ -60,18 +60,14 @@ values={[
```js
-let characterController = world.createCharacterController(0.01);
-// Change the character controller’s up vector to the positive X axis.
-characterController.setUp({ x: 1.0, y: 0.0 });
+
```
```js
-let characterController = world.createCharacterController(0.01);
-// Change the character controller’s up vector to the positive Z axis.
-characterController.setUp({ x: 0.0, y: 0.0, z: 1.0 });
+
```
diff --git a/docs/user_guides/templates/collider_active_collision_types.mdx b/docs/user_guides/templates/collider_active_collision_types.mdx
index 84cee72..688a3cf 100644
--- a/docs/user_guides/templates/collider_active_collision_types.mdx
+++ b/docs/user_guides/templates/collider_active_collision_types.mdx
@@ -19,26 +19,20 @@ and a collider attached to a fixed rigid-body. This can be done by modifying the
```rust
-
+
```
```rust
-
+
```
```js
-/* Set the active collision types when the collider is created. */
-let colliderDesc = RAPIER.ColliderDesc.ball(0.5)
- .setActiveCollisionTypes(RAPIER.ActiveCollisionTypes.DEFAULT |
- RAPIER.ActiveCollisionTypes.KINEMATIC_FIXED);
-let collider = world.createCollider(colliderDesc);
+
```
```js
-/* Set the active collision types after the collider creation. */
-collider.setActiveCollisionTypes(RAPIER.ActiveCollisionTypes.DEFAULT|
- RAPIER.ActiveCollisionTypes.KINEMATIC_FIXED);
+
```
diff --git a/docs/user_guides/templates/collider_active_events.mdx b/docs/user_guides/templates/collider_active_events.mdx
index 59793d8..e69f3f6 100644
--- a/docs/user_guides/templates/collider_active_events.mdx
+++ b/docs/user_guides/templates/collider_active_events.mdx
@@ -35,14 +35,10 @@ The active events of a collider can be set when the collider is created or after
```js
-/* Set the active events when the collider is created. */
-let colliderDesc = RAPIER.ColliderDesc.ball(0.5)
- .setActiveEvents(RAPIER.ActiveEvents.COLLISION_EVENTS);
-let collider = world.createCollider(colliderDesc);
+
```
```js
-/* Set the active events after the collider creation. */
-collider.setActiveEvents(RAPIER.ActiveEvents.COLLISION_EVENTS);
+
```
\ No newline at end of file
diff --git a/docs/user_guides/templates/collider_active_hooks.mdx b/docs/user_guides/templates/collider_active_hooks.mdx
index 6ac8199..97297e9 100644
--- a/docs/user_guides/templates/collider_active_hooks.mdx
+++ b/docs/user_guides/templates/collider_active_hooks.mdx
@@ -41,14 +41,10 @@ The active hooks of a collider can be set when the collider is created or after
```js
-/* Set the active hooks when the collider is created. */
-let colliderDesc = RAPIER.ColliderDesc.ball(0.5)
- .setActiveHooks(RAPIER.ActiveHooks.FILTER_CONTACT_PAIRS);
-let collider = world.createCollider(colliderDesc);
+
```
```js
-/* Set the active hooks after the collider creation. */
-collider.setActiveHooks(RAPIER.ActiveHooks.FILTER_CONTACT_PAIRS);
+
```
\ No newline at end of file
diff --git a/docs/user_guides/templates/collider_collision_groups.mdx b/docs/user_guides/templates/collider_collision_groups.mdx
index 8e12902..ba1f356 100644
--- a/docs/user_guides/templates/collider_collision_groups.mdx
+++ b/docs/user_guides/templates/collider_collision_groups.mdx
@@ -64,16 +64,10 @@ during or after its creation:
```js
-/* Set the collision groups and solver groups when the collider is created. */
-let colliderDesc = RAPIER.ColliderDesc.ball(0.5)
- .setCollisionGroups(0x000D0004)
- .setSolverGroups(0x00500010);
-let collider = world.createCollider(colliderDesc);
+
```
```js
-/* Set the collision groups and solver groups after the collider creation. */
-collider.setCollisionGroups(0x000D0004);
-collider.setSolverGroups(0x000D0004);
+
```
diff --git a/docs/user_guides/templates/collider_creation_and_insertion.mdx b/docs/user_guides/templates/collider_creation_and_insertion.mdx
index 8f867ae..daa08f5 100644
--- a/docs/user_guides/templates/collider_creation_and_insertion.mdx
+++ b/docs/user_guides/templates/collider_creation_and_insertion.mdx
@@ -112,86 +112,14 @@ values={[
```js
-// The physics world.
-let world = new RAPIER.World({ x: 0.0, y: -9.81 });
-
-// Builder for a ball-shaped collider.
-let example1 = RAPIER.ColliderDesc.ball(0.5);
-// Builder for a cuboid-shaped collider.
-let example2 = RAPIER.ColliderDesc.cuboid(0.5, 0.2);
-// Builder for a capsule-shaped collider. The capsule principal axis is the `y` coordinate axis.
-let example3 = RAPIER.ColliderDesc.capsule(0.5, 0.2);
-// Builder for a triangle-mesh-shaped collider.
-let example4 = RAPIER.ColliderDesc.trimesh(vertices, indices);
-// Builder for a heightfield-shaped collider.
-let example5 = RAPIER.ColliderDesc.heightfield(heights, scale);
-// Builder for a collider with the given shape.
-let colliderDesc = new RAPIER.ColliderDesc(new RAPIER.Ball(0.5))
- // The collider translation wrt. the body it is attached to.
- // Default: the zero vector.
- .setTranslation(1.0, 2.0)
- // The collider rotation wrt. the body it is attached to.
- // Default: the identity rotation.
- .setRotation(3.14)
- // The collider density. If non-zero the collider's mass and angular inertia will be added
- // to the inertial properties of the body it is attached to.
- // Default: 1.0
- .setDensity(1.3)
- // The friction coefficient of this collider.
- // Default: ColliderDesc.default_friction() == 0.5
- .setFriction(0.8)
- // Whether this collider is a sensor.
- // Default: false
- .setSensor(true);
-
-// Create the collider, without attaching it to a rigid-body.
-let handle = world.createCollider(colliderDesc);
-// Or create the collider and attach it to a rigid-body.
-let rigidBody = world.createRigidBody(RAPIER.RigidBodyDesc.dynamic());
-let collider = world.createCollider(colliderDesc, rigidBody);
+
```
```js
-// The physics world.
-let world = new World({ x: 0.0, y: -9.81, z: 0.0 });
-
-// Builder for a ball-shaped collider.
-let example1 = RAPIER.ColliderDesc.ball(0.5);
-// Builder for a cuboid-shaped collider.
-let example2 = RAPIER.ColliderDesc.cuboid(0.5, 0.2, 0.1);
-// Builder for a capsule-shaped collider. The capsule principal axis is the `y` coordinate axis.
-let example3 = RAPIER.ColliderDesc.capsule(0.5, 0.2);
-// Builder for a triangle-mesh-shaped collider.
-let example4 = RAPIER.ColliderDesc.trimesh(vertices, indices);
-// Builder for a heightfield-shaped collider.
-let example5 = RAPIER.ColliderDesc.heightfield(10, 10, heights, scale);
-// Builder for a collider with the given shape.
-let colliderDesc = new RAPIER.ColliderDesc(new RAPIER.Ball(0.5))
- // The collider translation wrt. the body it is attached to.
- // Default: the zero vector.
- .setTranslation(1.0, 2.0, 3.0)
- // The collider rotation wrt. the body it is attached to, as a unit quaternion.
- // Default: the identity rotation.
- .setRotation({ w: 1.0, x: 0.0, y: 0.0, z: 0.0 })
- // The collider density. If non-zero the collider's mass and angular inertia will be added
- // to the inertial properties of the body it is attached to.
- // Default: 1.0
- .setDensity(1.3)
- // The friction coefficient of this collider.
- // Default: 0.5
- .setFriction(0.8)
- // Whether this collider is a sensor.
- // Default: false
- .setSensor(true);
-
-// Create the collider, without attaching it to a rigid-body.
-let handle = world.createCollider(colliderDesc);
-// Or create the collider and attach it to a rigid-body.
-let rigidBody = world.createRigidBody(RAPIER.RigidBodyDesc.dynamic());
-let collider = world.createCollider(colliderDesc, rigidBody);
+
```
diff --git a/docs/user_guides/templates/collider_friction.mdx b/docs/user_guides/templates/collider_friction.mdx
index 3d86a1a..bbefe86 100644
--- a/docs/user_guides/templates/collider_friction.mdx
+++ b/docs/user_guides/templates/collider_friction.mdx
@@ -60,18 +60,10 @@ The friction coefficient and friction combine rule can both be set when the coll
```js
-/* Set the friction coefficient and friction combine rule
- when the collider is created. */
-let colliderDesc = RAPIER.ColliderDesc.ball(0.5)
- .setFriction(0.7)
- .setFrictionCombineRule(RAPIER.CoefficientCombineRule.Min);
-let collider = world.createCollider(colliderDesc);
+
```
```js
-/* Set the friction coefficient and friction combine rule
- after the collider creation. */
-collider.setFriction(0.7);
-collider.setFrictionCombineRule(RAPIER.CoefficientCombineRule.Min);
+
```
diff --git a/docs/user_guides/templates/collider_mass_properties.mdx b/docs/user_guides/templates/collider_mass_properties.mdx
index 5a62823..e8f51d1 100644
--- a/docs/user_guides/templates/collider_mass_properties.mdx
+++ b/docs/user_guides/templates/collider_mass_properties.mdx
@@ -82,42 +82,14 @@ values={[
```js
-let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic();
-let rigidBody = world.createRigidBody(rigidBodyDesc);
-// First option: by setting the density of the collider (or we could just leave
-// its default value 1.0).
-let colliderDesc = RAPIER.ColliderDesc.cuboid(1.0, 2.0)
- .setDensity(2.0);
-// Second option: by setting the mass of the collider.
-let colliderDesc = RAPIER.ColliderDesc.cuboid(1.0, 2.0)
- .setMass(0.8);
-// Third option: by setting the mass-properties explicitly.
-let colliderDesc = RAPIER.ColliderDesc.cuboid(1.0, 2.0)
- .setMassProperties(0.5, { x: 0.0, y: 1.0 }, 0.3);
-// When the collider is attached, the rigid-body's mass and angular
-// inertia is automatically updated to take the collider into account.
-let collider = world.createCollider(colliderDesc, rigidBody);
+
```
```js
-let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic();
-let rigidBody = world.createRigidBody(rigidBodyDesc);
-// First option: by setting the density of the collider (or we could just leave
-// its default value 1.0).
-let colliderDesc = RAPIER.ColliderDesc.cuboid(1.0, 2.0, 3.0)
- .setDensity(2.0);
-// Second option: by setting the mass of the collider.
-let colliderDesc = RAPIER.ColliderDesc.cuboid(1.0, 2.0, 3.0)
- .setMass(0.8);
-// Third option: by setting the mass-properties explicitly.
-let colliderDesc = RAPIER.ColliderDesc.cuboid(1.0, 2.0, 3.0)
- .setMassProperties(0.5, { x: 0.0, y: 1.0, z: 0.0 }, { x: 0.3, y: 0.2, z: 0.1 }, { w: 1.0, x: 0.0, y: 0.0, z: 0.0 });
-// When the collider is attached, the rigid-body's mass and angular
-// inertia is automatically updated to take the collider into account.
-let collider = world.createCollider(colliderDesc, rigidBody);
+
```
diff --git a/docs/user_guides/templates/collider_position.mdx b/docs/user_guides/templates/collider_position.mdx
index cb6399e..57cb9cd 100644
--- a/docs/user_guides/templates/collider_position.mdx
+++ b/docs/user_guides/templates/collider_position.mdx
@@ -91,32 +91,20 @@ values={[
```js
-/* Set the collider position when the collider is created. */
-let colliderDesc = ColliderDesc.ball(0.5)
- .setTranslation(1.0, 2.0)
- .setRotation(0.4);
-let collider = world.createCollider(colliderDesc);
+
```
```js
-/* Set the collider position after the collider creation. */
-collider.setTranslation({ x: 1.0, y: 2.0 });
-collider.setRotation(0.4);
+
```
```js
-/* Set the collider position when the collider is created. */
-let colliderDesc = RAPIER.ColliderDesc.ball(0.5)
- .setTranslation(1.0, 2.0, 3.0)
- .setRotation({ w: 1.0, x: 0.0, y: 0.0, z: 0.0 });
-let collider = world.createCollider(colliderDesc);
+
```
```js
-/* Set the collider position after the collider creation. */
-collider.setTranslation({ x: 1.0, y: 2.0, z: 3.0 });
-collider.setRotation({ w: 1.0, x: 0.0, y: 0.0, z: 0.0 });
+
```
@@ -208,34 +196,20 @@ values={[
```js
-let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic();
-let rigidBody = world.createRigidBody(rigidBodyDesc);
-let colliderDesc = RAPIER.ColliderDesc.ball(0.5)
- .setTranslation(1.0, 2.0);
-// Attach the collider to the rigid-body. The collider's position wrt. the rigid-body
-// is automatically set to the collider current position when this method is called.
-let collider = world.createCollider(colliderDesc, rigidBody);
+
```
```js
-/* Set the collider position wrt. its parent after the collider creation. */
-collider.setTranslationWrtParent({ x: 1.0, y: 2.0 });
+
```
```js
-let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic();
-let rigidBody = world.createRigidBody(rigidBodyDesc);
-let colliderDesc = RAPIER.ColliderDesc.ball(0.5)
- .setTranslation(1.0, 2.0, 3.0);
-// Attach the collider to the rigid-body. The collider's position wrt. the rigid-body
-// is automatically set to the collider current position when this method is called.
-let collider = world.createCollider(colliderDesc, rigidBody);
+
```
```js
-/* Set the collider position wrt. its parent after the collider creation. */
-collider.setTranslationWrtParent({ x: 1.0, y: 2.0, z: 3.0 });
+
```
diff --git a/docs/user_guides/templates/collider_restitution.mdx b/docs/user_guides/templates/collider_restitution.mdx
index 22fddd8..c12ad19 100644
--- a/docs/user_guides/templates/collider_restitution.mdx
+++ b/docs/user_guides/templates/collider_restitution.mdx
@@ -60,18 +60,10 @@ The restitution coefficient and restitution combine rule can both be set when th
```js
-/* Set the restitution coefficient and restitution combine rule
- when the collider is created. */
-let colliderDesc = RAPIER.ColliderDesc.ball(0.5)
- .setRestitution(0.7)
- .setRestitutionCombineRule(RAPIER.CoefficientCombineRule.Min);
-let collider = world.createCollider(colliderDesc);
+
```
```js
-/* Set the restitution coefficient and restitution combine rule
- after the collider creation. */
-collider.setRestitution(0.7);
-collider.setRestitutionCombineRule(RAPIER.CoefficientCombineRule.Min);
+
```
diff --git a/docs/user_guides/templates/collider_type.mdx b/docs/user_guides/templates/collider_type.mdx
index d41d5d0..6883fee 100644
--- a/docs/user_guides/templates/collider_type.mdx
+++ b/docs/user_guides/templates/collider_type.mdx
@@ -35,14 +35,10 @@ construction:
```js
-/* Set the collider type when the collider is created. */
-let colliderDesc = RAPIER.ColliderDesc.ball(0.5)
- .setSensor(true);
-let collider = world.createCollider(colliderDesc);
+
```
```js
-/* Set the collider type after the collider creation. */
-collider.setSensor(true);
+
```
diff --git a/docs/user_guides/templates/colliders.mdx b/docs/user_guides/templates/colliders.mdx
index 0232b65..c752660 100644
--- a/docs/user_guides/templates/colliders.mdx
+++ b/docs/user_guides/templates/colliders.mdx
@@ -40,7 +40,7 @@ There are two ways of creating a collider with a convex shape:
1. Using `ColliderBuilder::convex_hull(points)``Collider::convex_hull(points)``ColliderDesc.convexHull(points)`. This is the simplest approach: it will automatically compute the convex
hull of the given set of points. A __convex hull__ is the smallest convex shape that contains all the given points.
2. Using `ColliderBuilder::convex_mesh(points, indices)``Collider::convex_mesh(points, indices)``ColliderDesc.convexMesh(points, indices)` in
- 3D or `ColliderBuilder::convex_polyline(points)``Collider::convex_polyline(points)``ColliderDesc.convexPolyline(points` in 2D.
+ 3D or `ColliderBuilder::convex_polyline(points)``Collider::convex_polyline(points)``ColliderDesc.convexPolyline(points)` in 2D.
This takes a mesh described by its vertex buffer and index
buffer and assumes it is already convex (you need to ensure that it is convex yourself). This will be more efficient than
the `ColliderBuilder::convex_hull``Collider::convex_hull``ColliderDesc.convexHull` constructor because it
diff --git a/docs/user_guides/templates/getting_started_js.mdx b/docs/user_guides/templates/getting_started_js.mdx
index 1f52c1a..5daa12b 100644
--- a/docs/user_guides/templates/getting_started_js.mdx
+++ b/docs/user_guides/templates/getting_started_js.mdx
@@ -51,76 +51,14 @@ example with a dynamic rigid-body falling on the ground.
```js
-import('@dimforge/rapier2d').then(RAPIER => {
- // Use the RAPIER module here.
- let gravity = { x: 0.0, y: -9.81 };
- let world = new RAPIER.World(gravity);
-
- // Create the ground
- let groundColliderDesc = RAPIER.ColliderDesc.cuboid(10.0, 0.1);
- world.createCollider(groundColliderDesc);
-
- // Create a dynamic rigid-body.
- let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic()
- .setTranslation(0.0, 1.0);
- let rigidBody = world.createRigidBody(rigidBodyDesc);
-
- // Create a cuboid collider attached to the dynamic rigidBody.
- let colliderDesc = RAPIER.ColliderDesc.cuboid(0.5, 0.5);
- let collider = world.createCollider(colliderDesc, rigidBody);
-
- // Game loop. Replace by your own game loop system.
- let gameLoop = () => {
- // Ste the simulation forward.
- world.step();
-
- // Get and print the rigid-body's position.
- let position = rigidBody.translation();
- console.log("Rigid-body position: ", position.x, position.y);
-
- setTimeout(gameLoop, 16);
- };
-
- gameLoop();
-})
+
```
```js
-import('@dimforge/rapier3d').then(RAPIER => {
- // Use the RAPIER module here.
- let gravity = { x: 0.0, y: -9.81, z: 0.0 };
- let world = new RAPIER.World(gravity);
-
- // Create the ground
- let groundColliderDesc = RAPIER.ColliderDesc.cuboid(10.0, 0.1, 10.0);
- world.createCollider(groundColliderDesc);
-
- // Create a dynamic rigid-body.
- let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic()
- .setTranslation(0.0, 1.0, 0.0);
- let rigidBody = world.createRigidBody(rigidBodyDesc);
-
- // Create a cuboid collider attached to the dynamic rigidBody.
- let colliderDesc = RAPIER.ColliderDesc.cuboid(0.5, 0.5, 0.5);
- let collider = world.createCollider(colliderDesc, rigidBody);
-
- // Game loop. Replace by your own game loop system.
- let gameLoop = () => {
- // Ste the simulation forward.
- world.step();
-
- // Get and print the rigid-body's position.
- let position = rigidBody.translation();
- console.log("Rigid-body position: ", position.x, position.y, position.z);
-
- setTimeout(gameLoop, 16);
- };
-
- gameLoop();
-})
+
```
@@ -146,34 +84,14 @@ in base64) into the main `JS` file. This results in a slightly different initial
```js
-import RAPIER from 'https://cdn.skypack.dev/@dimforge/rapier2d-compat';
-
-RAPIER.init().then(() => {
- // Run the simulation.
-});
-
-// OR using the await syntax:
-async function run_simulation() {
- await RAPIER.init();
- // Run the simulation.
-}
+
```
```js
-import RAPIER from 'https://cdn.skypack.dev/@dimforge/rapier3d-compat';
-
-RAPIER.init().then(() => {
- // Run the simulation.
-});
-
-// OR using the await syntax:
-async function run_simulation() {
- await RAPIER.init();
- // Run the simulation.
-}
+
```
@@ -187,7 +105,7 @@ Rapier does not come with any built-in rendering capabilities, so you must do th
can be accessed directly from the physics world instance by calling `debugRender()`.
```js
-const { vertices, colors } = world.debugRender()
+
```
These are each flat arrays filled with shape and color data for every body and collider in the physics world.
@@ -203,36 +121,10 @@ be based on the type of the given rigid body or collider and the current kinemat
Below is an example of rendering this data using Pixi.js and Pixi Viewport.
```js
-import PIXI from 'pixi.js';
-import { Viewport } from 'pixi-viewport';
-
-// ...
-
-let GRAPHICS = [];
-function renderDebug (pixiViewport, physicsWorld) {
- const { vertices, colors } = physicsWorld.debugRender();
-
- GRAPHICS.forEach(g => g.destroy());
- GRAPHICS = [];
-
- for (let i = 0; i < vtx.length / 4; i += 1) {
- const g = new PIXI.Graphics();
- const c = new PIXI.Color({
- r: colors[i * 4] * 255,
- g: colors[i * 4 + 1] * 255,
- b: colors[i * 4 + 2] * 255,
- a: colors[i * 4 + 3] * 255
- });
-
- g.lineStyle(0.5, c, 1);
- g.moveTo(vertices[i * 4], vertices[i * 4 + 1]);
- g.lineTo(vertices[i * 4 + 2], vertices[i * 4 + 3]);
- g.closePath();
-
- GRAPHICS.push(g);
- pixiViewport.addChild(g);
- }
-}
+
+```
+```js
+
```
An example of this in action can be see in the [Rapier.js testbed code](https://github.com/dimforge/rapier.js/blob/master/testbed2d/src/Graphics.ts).
diff --git a/docs/user_guides/templates/joints.mdx b/docs/user_guides/templates/joints.mdx
index af561bf..9efa08c 100644
--- a/docs/user_guides/templates/joints.mdx
+++ b/docs/user_guides/templates/joints.mdx
@@ -121,21 +121,14 @@ values={[
```js
-let params = RAPIER.JointData.fixed({ x: 0.0, y: 0.0 }, 0.0, { x: 0.0, y: -2.0 }, 0.0);
-let joint = world.createImpulseJoint(params, body1, body2, true);
+
```
```js
-let params = RAPIER.JointData.fixed(
- { x: 0.0, y: 0.0, z: 0.0 },
- { w: 1.0, x: 0.0, y: 0.0, z: 0.0 },
- { x: 0.0, y: -2.0, z: 0.0 },
- { w: 1.0, x: 0.0, y: 0.0, z: 0.0 }
-);
-let joint = world.createImpulseJoint(params, body1, body2, true);
+
```
@@ -167,8 +160,7 @@ of the points that need to coincide on the local-space of each rigid-body.
```js
-let params = RAPIER.JointData.spherical({ x: 0.0, y: 0.0, z: 1.0 }, { x: 0.0, y: 0.0, z: -3.0 });
-let joint = world.createImpulseJoint(params, body1, body2, true);
+
```
@@ -248,17 +240,14 @@ values={[
```js
-let params = RAPIER.JointData.revolute({ x: 0.0, y: 1.0 }, { x: 0.0, y: -3.0 });
-let joint = world.createImpulseJoint(params, body1, body2, true);
+
```
```js
-let x = { x: 1.0, y: 0.0, z: 0.0 };
-let params = RAPIER.JointData.revolute({ x: 0.0, y: 0.0, z: 1.0 }, { x: 0.0, y: 0.0, z: -3.0 }, x);
-let joint = world.createImpulseJoint(params, body1, body2, true);
+
```
@@ -341,23 +330,14 @@ values={[
```js
-let x = { x: 1.0, y: 0.0 };
-let params = RAPIER.JointData.prismatic({ x: 0.0, y: 0.0 }, x, { x: 0.0, y: -3.0 }, x);
-params.limitsEnabled = true;
-params.limits = [-2.0, 5.0];
-let joint = world.createImpulseJoint(params, body1, body2, true);
+
```
```js
-let x = { x: 1.0, y: 0.0, z: 0.0 };
-let z = { x: 0.0, y: 0.0, z: 1.0 };
-let params = RAPIER.JointData.prismatic({ x: 0.0, y: 0.0, z: 1.0 }, x, z, { x: 0.0, y: 0.0, z: -3.0 }, x, z);
-params.limitsEnabled = true;
-params.limits = [-2.0, 5.0];
-let joint = world.createImpulseJoint(params, body1, body2, true);
+
```
@@ -456,21 +436,14 @@ values={[
```js
-let x = { x: 1.0, y: 0.0 };
-let params = RAPIER.JointData.prismatic({ x: 0.0, y: 0.0 }, { x: 0.0, y: -3.0 }, x);
-let joint = world.createImpulseJoint(params, body1, body2, true);
-(joint as RAPIER.PrismaticImpulseJoint).configureMotorVelocity(1.0, 0.5);
+
```
```js
-let x = { x: 1.0, y: 0.0, z: 0.0 };
-let z = { x: 0.0, y: 0.0, z: 1.0 };
-let params = RAPIER.JointData.prismatic({ x: 0.0, y: 0.0, z: 1.0 }, { x: 0.0, y: 0.0, z: -3.0 }, x);
-let joint = world.createImpulseJoint(params, body1, body2, true);
-(joint as RAPIER.PrismaticImpulseJoint).configureMotorVelocity(1.0, 0.5);
+
```
diff --git a/docs/user_guides/templates/rigid_body_ccd.mdx b/docs/user_guides/templates/rigid_body_ccd.mdx
index fc02e26..cc28769 100644
--- a/docs/user_guides/templates/rigid_body_ccd.mdx
+++ b/docs/user_guides/templates/rigid_body_ccd.mdx
@@ -42,14 +42,10 @@ when creating a rigid-body or after its creation:
```js
-/* Enable CCD when the rigid-body is created. */
-let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic()
- .setCcdEnabled(true);
-let rigidBody = world.createRigidBody(rigidBodyDesc);
+
```
```js
-/* Enable CCD after the rigid-body creation. */
-rigidBody.enableCcd(true);
+
```
diff --git a/docs/user_guides/templates/rigid_body_creation_and_insertion.mdx b/docs/user_guides/templates/rigid_body_creation_and_insertion.mdx
index a78ecfa..4786f90 100644
--- a/docs/user_guides/templates/rigid_body_creation_and_insertion.mdx
+++ b/docs/user_guides/templates/rigid_body_creation_and_insertion.mdx
@@ -105,90 +105,14 @@ values={[
```js
-// The world that will contain our rigid-bodies.
-let world = new RAPIER.World({ x: 0.0, y: -9.81 });
-
-// Builder for a fixed rigid-body.
-let _ = RigidBodyDesc.fixed();
-// Builder for a dynamic rigid-body.
-let _ = RigidBodyDesc.dynamic();
-// Builder for a kinematic rigid-body controlled at the velocity level.
-let _ = RigidBodyDesc.kinematicVelocityBased();
-// Builder for a kinematic rigid-body controlled at the position level.
-let _ = RigidBodyDesc.kinematicPositionBased();
-// Builder for a body with a status specified by an enum.
-let rigidBodyDesc = new RigidBodyDesc(RAPIER.RigidBodyType.Dynamic)
- // The rigid body translation.
- // Default: zero vector.
- .setTranslation(0.0, 5.0)
- // The rigid body rotation.
- // Default: no rotation.
- .setRotation(5.0)
- // The linear velocity of this body.
- // Default: zero velocity.
- .setLinvel(1.0, 2.0)
- // The angular velocity of this body.
- // Default: zero velocity.
- .setAngvel(2.0)
- // The scaling factor applied to the gravity affecting the rigid-body.
- // Default: 1.0
- .setGravityScale(0.5)
- // Whether or not this body can sleep.
- // Default: true
- .setCanSleep(true)
- // Whether or not CCD is enabled for this rigid-body.
- // Default: false
- .setCcdEnabled(false);
-
-// All done, actually build the rigid-body.
-let rigidBody = world.createRigidBody(rigidBodyDesc);
-// The integer handle of the rigid-body can be read from the `handle` field.
-let rigidBodyHandle = rigidBody.handle;
+
```
```js
-// The world that will contain our rigid-bodies.
-let world = new RAPIER.World({ x: 0.0, y: -9.81, z: 0.0 });
-
-// Builder for a fixed rigid-body.
-let example1 = RAPIER.RigidBodyDesc.fixed();
-// Builder for a dynamic rigid-body.
-let example2 = RAPIER.RigidBodyDesc.dynamic();
-// Builder for a kinematic rigid-body controlled at the velocity level.
-let example3 = RAPIER.RigidBodyDesc.kinematicVelocityBased();
-// Builder for a kinematic rigid-body controlled at the position level.
-let example4 = RAPIER.RigidBodyDesc.kinematicPositionBased();
-// Builder for a body with a status specified by an enum.
-let rigidBodyDesc = new RAPIER.RigidBodyDesc(RAPIER.RigidBodyType.Dynamic)
- // The rigid body translation.
- // Default: zero vector.
- .setTranslation(0.0, 5.0, 1.0)
- // The rigid body rotation, given as a quaternion.
- // Default: no rotation.
- .setRotation({ w: 1.0, x: 0.0, y: 0.0, z: 0.0})
- // The linear velocity of this body.
- // Default: zero velocity.
- .setLinvel(1.0, 3.0, 4.0)
- // The angular velocity of this body.
- // Default: zero velocity.
- .setAngvel({ x: 3.0, y: 0.0, z: 1.0 })
- // The scaling factor applied to the gravity affecting the rigid-body.
- // Default: 1.0
- .setGravityScale(0.5)
- // Whether or not this body can sleep.
- // Default: true
- .setCanSleep(true)
- // Whether or not CCD is enabled for this rigid-body.
- // Default: false
- .setCcdEnabled(false);
-
-// All done, actually build the rigid-body.
-let rigidBody = world.createRigidBody(rigidBodyDesc);
-// The integer handle of the rigid-body can be read from the `handle` field.
-let rigidBodyHandle = rigidBody.handle;
+
```
diff --git a/docs/user_guides/templates/rigid_body_damping.mdx b/docs/user_guides/templates/rigid_body_damping.mdx
index 812b612..ebacf66 100644
--- a/docs/user_guides/templates/rigid_body_damping.mdx
+++ b/docs/user_guides/templates/rigid_body_damping.mdx
@@ -32,16 +32,10 @@ This damping coefficients can be set when the rigid-body is created or after its
```js
-/* Set the damping coefficients when the rigid-body is created. */
-let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic()
- .setLinearDamping(0.5)
- .setAngularDamping(1.0);
-let rigidBody = world.createRigidBody(rigidBodyDesc);
+
```
```js
-/* Set the damping coefficients after the rigid-body creation. */
-rigidBody.setLinearDamping(0.5);
-rigidBody.setAngularDamping(1.0);
+
```
\ No newline at end of file
diff --git a/docs/user_guides/templates/rigid_body_dominance.mdx b/docs/user_guides/templates/rigid_body_dominance.mdx
index d93fbef..6eb570f 100644
--- a/docs/user_guides/templates/rigid_body_dominance.mdx
+++ b/docs/user_guides/templates/rigid_body_dominance.mdx
@@ -46,14 +46,10 @@ The dominance group can be set when the rigid-body is created or after its creat
```js
-/* Set the damping coefficients when the rigid-body is created. */
-let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic()
- .setDominanceGroup(10);
-let rigidBody = world.createRigidBody(rigidBodyDesc);
+
```
```js
-/* Set the damping coefficients after the rigid-body creation. */
-rigidBody.setDominanceGroup(10);
+
```
\ No newline at end of file
diff --git a/docs/user_guides/templates/rigid_body_forces_and_impulses.mdx b/docs/user_guides/templates/rigid_body_forces_and_impulses.mdx
index e6e3120..e968226 100644
--- a/docs/user_guides/templates/rigid_body_forces_and_impulses.mdx
+++ b/docs/user_guides/templates/rigid_body_forces_and_impulses.mdx
@@ -81,32 +81,14 @@ values={[
```js
-// The `true` argument makes sure the rigid-body is awake.
-rigidBody.resetForces(true); // Reset the forces to zero.
-rigidBody.resetTorques(true); // Reset the torques to zero.
-rigidBody.addForce({ x: 0.0, y: 1000.0 }, true);
-rigidBody.addTorque(100.0, true);
-rigidBody.addForceAtPoint({ x: 0.0, y: 1000.0 }, { x: 1.0, y: 2.0 }, true);
-
-rigidBody.applyImpulse({ x: 0.0, y: 1000.0 }, true);
-rigidBody.applyTorqueImpulse(100.0, true);
-rigidBody.applyImpulseAtPoint({ x: 0.0, y: 1000.0 }, { x: 1.0, y: 2.0 }, true);
+
```
```js
-// The `true` argument makes sure the rigid-body is awake.
-rigidBody.resetForces(true); // Reset the forces to zero.
-rigidBody.resetTorques(true); // Reset the torques to zero.
-rigidBody.addForce({ x: 0.0, y: 1000.0, z: 0.0 }, true);
-rigidBody.addTorque({ x: 100.0, y: 0.0, z: 0.0 }, true);
-rigidBody.addForceAtPoint({ x: 0.0, y: 1000.0, z: 0.0 }, { x: 1.0, y: 2.0, z: 3.0 }, true);
-
-rigidBody.applyImpulse({ x: 0.0, y: 1000.0, z: 0.0 }, true);
-rigidBody.applyTorqueImpulse({ x: 100.0, y: 0.0, z: 0.0 }, true);
-rigidBody.applyImpulseAtPoint({ x: 0.0, y: 1000.0, z: 0.0 }, { x: 1.0, y: 2.0, z: 3.0 }, true);
+
```
diff --git a/docs/user_guides/templates/rigid_body_gravity.mdx b/docs/user_guides/templates/rigid_body_gravity.mdx
index 45a6d5d..29ce469 100644
--- a/docs/user_guides/templates/rigid_body_gravity.mdx
+++ b/docs/user_guides/templates/rigid_body_gravity.mdx
@@ -48,14 +48,10 @@ This gravity scale factor can be set when the rigid-body is created or after its
```js
-/* Set the gravity scale when the rigid-body is created. */
-let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic()
- .setGravityScale(2.0);
-let rigidBody = world.createRigidBody(rigidBodyDesc);
+
```
```js
-/* Set the gravity scale after the rigid-body creation. */
-rigidBody.setGravityScale(2.0, true);
+
```
\ No newline at end of file
diff --git a/docs/user_guides/templates/rigid_body_locking_translations_rotations.mdx b/docs/user_guides/templates/rigid_body_locking_translations_rotations.mdx
index bded800..ce305f5 100644
--- a/docs/user_guides/templates/rigid_body_locking_translations_rotations.mdx
+++ b/docs/user_guides/templates/rigid_body_locking_translations_rotations.mdx
@@ -85,38 +85,20 @@ values={[
```js
-/* Lock translations/rotations when the rigid-body is created. */
-let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic()
- .lockTranslations() // prevent translations along along all axes.
- .lockRotations(); // prevent rotations.
-let rigidBody = world.createRigidBody(rigidBodyDesc);
+
```
-
```js
-/* Lock translations/rotations after the rigid-body creation. */
-// The last `true` argument makes sure the rigid-body is awake.
-rigidBody.lockTranslations(true, true);
-rigidBody.lockRotations(true, true);
+
```
```js
-/* Lock translations/rotations when the rigid-body is created. */
-let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic()
- .lockTranslations() // prevent translations along along all axes.
- .lockRotations() // prevent rotations along all axes.
- .setEnabledRotations(true, false, false); // only enable rotations along the X axis.
-let rigidBody = world.createRigidBody(rigidBodyDesc);
+
```
-
```js
-/* Lock translations/rotations after the rigid-body creation. */
-// The last `true` argument makes sure the rigid-body is awake.
-rigidBody.lockTranslations(true, true);
-rigidBody.lockRotations(true, true);
-rigidBody.setEnabledRotations(true, false, false, true);
+
```
diff --git a/docs/user_guides/templates/rigid_body_mass_properties.mdx b/docs/user_guides/templates/rigid_body_mass_properties.mdx
index 70219c4..5ea9348 100644
--- a/docs/user_guides/templates/rigid_body_mass_properties.mdx
+++ b/docs/user_guides/templates/rigid_body_mass_properties.mdx
@@ -38,13 +38,7 @@ collider's shape and density) to the rigid-body it is attached to:
```js
-let rigidBodyDesc = RigidBodyDesc.dynamic();
-let rigidBody = world.createRigidBody(rigidBodyDesc);
-// The default density is 1.0, we are setting 2.0 for this example.
-let colliderDesc = ColliderDesc.ball(1.0).setDensity(2.0);
-// When the collider is attached, the rigid-body's mass and angular
-// inertia is automatically updated to take the collider into account.
-world.createCollider(collider, rigidBody);
+
```
@@ -107,35 +101,14 @@ values={[
```js
-/* Set the mass-properties when the rigid-body is created. */
-let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic()
- .setAdditionalMass(0.5)
- .setAdditionalPrincipalAngularInertia(0.3)
- // Sets both the mass and angular inertia at once.
- .setAdditionalMassProperties(
- 0.5, // Mass.
- { x: 0.0, y: 1.0 }, // Center of mass.
- 0.3 // Principal angular inertia.
- );
-let rigidBody = world.createRigidBody(rigidBodyDesc);
+
```
```js
-/* Set the mass-properties when the rigid-body is created. */
-let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic()
- .setAdditionalMass(0.5)
- .setAdditionalPrincipalAngularInertia({ x: 0.3, y: 0.2, z: 0.1 })
- // Sets both the mass and angular inertia at once.
- .setAdditionalMassProperties(
- 0.5, // Mass.
- { x: 0.0, y: 1.0, z: 0.0 }, // Center of mass.
- { x: 0.3, y: 0.2, z: 0.1 }, // Principal angular inertia.
- { w: 1.0, x: 0.0, y: 0.0, z: 0.0 } // Principal angular inertia frame (unit quaternion).
- );
-let rigidBody = world.createRigidBody(rigidBodyDesc);
+
```
diff --git a/docs/user_guides/templates/rigid_body_position.mdx b/docs/user_guides/templates/rigid_body_position.mdx
index c13132e..639d6e8 100644
--- a/docs/user_guides/templates/rigid_body_position.mdx
+++ b/docs/user_guides/templates/rigid_body_position.mdx
@@ -28,62 +28,20 @@ values={[
```rust
-/* Set the position when the rigid-body is created. */
-let rigid_body = RigidBodyBuilder::dynamic()
- // The rigid body translation.
- // Default: zero vector.
- .translation(vector![0.0, 5.0])
- // The rigid body rotation.
- // Default: no rotation.
- .rotation(5.0)
- // The rigid body position. Will override `.translation(...)` and `.rotation(...)`.
- // Default: the identity isometry.
- .position(Isometry::new(vector![1.0, 2.0], 0.4))
- // All done, actually build the rigid-body.
- .build();
+
```
```rust
-/* Set the position after the rigid-body creation. */
-let rigid_body = rigid_body_set.get_mut(rigid_body_handle).unwrap();
-// The `true` argument makes sure the rigid-body is awake.
-rigid_body.set_translation(vector![0.0, 5.0], true);
-rigid_body.set_rotation(0.2, true);
-assert_eq!(*rigid_body.translation(), vector![0.0, 5.0]);
-assert_eq!(rigid_body.rotation().angle(), 0.2);
-
-rigid_body.set_position(Isometry::new(vector![1.0, 2.0], 0.4), true);
-assert_eq!(*rigid_body.position(), Isometry::new(vector![1.0, 2.0], 0.4));
+
```
```rust
-/* Set the position when the rigid-body is created. */
-let rigid_body = RigidBodyBuilder::dynamic()
- // The rigid body translation.
- // Default: zero vector.
- .translation(vector![0.0, 5.0, 1.0])
- // The rigid body rotation.
- // Default: no rotation.
- .rotation(vector![0.2, 0.0, 0.0])
- // The rigid body position. Will override `.translation(...)` and `.rotation(...)`.
- // Default: the identity isometry.
- .position(Isometry::new(vector![1.0, 2.0, 3.0], vector![0.2, 0.0, 0.0]))
- // All done, actually build the rigid-body.
- .build();
+
```
```rust
-/* Set the position after the rigid-body creation. */
-let rigid_body = rigid_body_set.get_mut(rigid_body_handle).unwrap();
-// The `true` argument makes sure the rigid-body is awake.
-rigid_body.set_translation(vector![0.0, 5.0, 1.0], true);
-rigid_body.set_rotation(vector![0.2, 0.0, 0.0], true);
-assert_eq!(*rigid_body.translation(), vector![0.0, 5.0, 1.0]);
-assert_eq!(rigid_body.rotation().scaled_axis(), vector![0.2, 0.0, 0.0]);
-
-rigid_body.set_position(Isometry::new(vector![1.0, 2.0, 3.0], vector![0.0, 0.4, 0.0]), true);
-assert_eq!(*rigid_body.position(), Isometry::new(vector![1.0, 2.0, 3.0], vector![0.0, 0.4, 0.0]));
+
```
@@ -134,42 +92,20 @@ values={[
```js
-/* Set the position when the rigid-body is created. */
-let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic()
- // The rigid body translation.
- // Default: zero vector.
- .setTranslation(0.0, 5.0)
- // The rigid body rotation.
- // Default: no rotation.
- .setRotation(5.0);
-let rigidBody = world.createRigidBody(rigidBodyDesc);
+
```
```js
-/* Set the position after the rigid-body creation. */
-// The `true` argument makes sure the rigid-body is awake.
-rigidBody.setTranslation({ x: 0.0, y: 5.0 }, true);
-rigidBody.setRotation(0.2, true);
+
```
```js
-/* Set the position when the rigid-body is created. */
-let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic()
- // The rigid body translation.
- // Default: zero vector.
- .setTranslation(0.0, 5.0, 1.0)
- // The rigid body rotation as a quaternion.
- // Default: no rotation.
- .setRotation({ w: 1.0, x: 0.0, y: 0.0, z: 0.0 });
-let rigidBody = world.createRigidBody(rigidBodyDesc);
+
```
```js
-/* Set the position after the rigid-body creation. */
-// The `true` argument makes sure the rigid-body is awake.
-rigidBody.setTranslation({ x: 0.0, y: 5.0, z: 1.0 }, true);
-rigidBody.setRotation({ w: 1.0, x: 0.0, y: 0.0, z: 0.0 }, true);
+
```
diff --git a/docs/user_guides/templates/rigid_body_type.mdx b/docs/user_guides/templates/rigid_body_type.mdx
index 4f634b9..5dd60c3 100644
--- a/docs/user_guides/templates/rigid_body_type.mdx
+++ b/docs/user_guides/templates/rigid_body_type.mdx
@@ -1,7 +1,7 @@
import Tabs from '@theme/Tabs';
import TabItem from '@theme/TabItem';
-There are three types of rigid-bodies, identified by the `RigidBodyType` enumeration`RigidBody` component`RigidBodyType` enumeration:
+There are four types of rigid-bodies, identified by the `RigidBodyType` enumeration`RigidBody` component`RigidBodyType` enumeration:
* **`RigidBodyType::Dynamic``RigidBodyType::Dynamic``RigidBodyType.Dynamic`:** Indicates that the body is affected by
external forces and contacts.
diff --git a/docs/user_guides/templates/rigid_body_velocity.mdx b/docs/user_guides/templates/rigid_body_velocity.mdx
index a2e7bef..ef38e98 100644
--- a/docs/user_guides/templates/rigid_body_velocity.mdx
+++ b/docs/user_guides/templates/rigid_body_velocity.mdx
@@ -94,42 +94,20 @@ values={[
```js
-/* Set the velocities when the rigid-body is created. */
-let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic()
- // The linear velocity of this body.
- // Default: zero velocity.
- .setLinvel(1.0, 3.0)
- // The angular velocity of this body.
- // Default: zero velocity.
- .setAngvel(3.0);
-let rigidBody = world.createRigidBody(rigidBodyDesc);
+
```
```js
-/* Set the velocities after the rigid-body creation. */
-// The `true` argument makes sure the rigid-body is awake.
-rigidBody.setLinvel({ x: 1.0, y: 3.0 }, true);
-rigidBody.setAngvel(3.0, true);
+
```
```js
-/* Set the velocities when the rigid-body is created. */
-let rigidBodyDesc = RAPIER.RigidBodyDesc.dynamic()
- // The linear velocity of this body.
- // Default: zero velocity.
- .setLinvel(1.0, 3.0, 4.0)
- // The angular velocity of this body.
- // Default: zero velocity.
- .setAngvel({ x: 3.0, y: 0.0, z: 0.0 });
-let rigidBody = world.createRigidBody(rigidBodyDesc);
+
```
```js
-/* Set the velocities after the rigid-body creation. */
-// The `true` argument makes sure the rigid-body is awake.
-rigidBody.setLinvel({ x: 1.0, y: 3.0, z: 4.0 }, true);
-rigidBody.setAngvel({ x: 3.0, y: 0.0, z: 0.0 }, true);
+
```
diff --git a/docs/user_guides/templates/scene_queries_filters.mdx b/docs/user_guides/templates/scene_queries_filters.mdx
index c95d036..6a0db75 100644
--- a/docs/user_guides/templates/scene_queries_filters.mdx
+++ b/docs/user_guides/templates/scene_queries_filters.mdx
@@ -36,20 +36,7 @@ Here is an an example of usage of the query filters with ray-casting:
```js
-let ray = new RAPIER.Ray({ x: 1.0, y: 2.0 }, { x: 0.0, y: 1.0 });
-let maxToi = 4.0;
-let solid = true;
-
-let filterFlags = QueryFilterFlags.EXCLUDE_DYNAMIC,
-let filterGroups = 0x000b0001,
-let filterExcludeRigidBody = player_rigid_body,
-let filterPredicate = (collider: Collider) => collider.userData == 10.0,
-
-
-let hit = world.castRay(ray, maxToi, solid, filterFlags, filterGroups, null, filterExcludeRigidBody, filterPredicate);
-if (hit != null) {
- // Handle the hit.
-}
+
```
\ No newline at end of file
diff --git a/docs/user_guides/templates/scene_queries_intersection_test.mdx b/docs/user_guides/templates/scene_queries_intersection_test.mdx
index 0aedac6..8fd3ed2 100644
--- a/docs/user_guides/templates/scene_queries_intersection_test.mdx
+++ b/docs/user_guides/templates/scene_queries_intersection_test.mdx
@@ -27,14 +27,14 @@ a point.
```rust
-
+
```
```rust
-
+
```
@@ -79,42 +79,14 @@ values={[
```js
-let shape = new RAPIER.Cuboid(1.0, 2.0);
-let shapePos = { x: 1.0, y: 2.0 };
-let shapeRot = 0.1;
-
-world.intersectionsWithShape(shapePos, shapeRot, shape, (handle) => {
- console.log("The collider", handle, "intersects our shape.");
- return true; // Return `false` instead if we want to stop searching for other colliders that contain this point.
-});
-
-let aabbCenter = { x: -1.0, y: -2.0 };
-let aabbHalfExtents = { x: 0.5, y: 0.6 };
-world.collidersWithAabbIntersectingAabb(aabbCenter, aabbHalfExtents, (handle) => {
- console.log("The collider", handle, "has an AABB intersecting our test AABB");
- return true; // Return `false` instead if we want to stop searching for other colliders that contain this point.
-});
+
```
```js
-let shape = new RAPIER.Cuboid(1.0, 2.0, 3.0);
-let shapePos = { x: 1.0, y: 2.0, z: 3.0 };
-let shapeRot = { w: 1.0, x: 0.0, y: 0.0, z: 0.0 };
-
-world.intersectionsWithShape(shapePos, shapeRot, shape, (handle) => {
- console.log("The collider", handle, "intersects our shape.");
- return true; // Return `false` instead if we want to stop searching for other colliders that contain this point.
-});
-
-let aabbCenter = { x: -1.0, y: -2.0, z: -3.0 };
-let aabbHalfExtents = { x: 0.5, y: 0.6, z: 0.5 };
-world.collidersWithAabbIntersectingAabb(aabbCenter, aabbHalfExtents, (handle) => {
- console.log("The collider", handle, "has an AABB intersecting our test AABB");
- return true; // Return `false` instead if we want to stop searching for other colliders that contain this point.
-});
+
```
diff --git a/docs/user_guides/templates/scene_queries_point_projection.mdx b/docs/user_guides/templates/scene_queries_point_projection.mdx
index 4bf0629..5938141 100644
--- a/docs/user_guides/templates/scene_queries_point_projection.mdx
+++ b/docs/user_guides/templates/scene_queries_point_projection.mdx
@@ -69,45 +69,14 @@ values={[
```js
-let point = { x: 1.0, y: 2.0 };
-let solid = true;
-
-let proj = world.projectPoint(point, solid);
-if (proj != null) {
- // The collider closest to the point has this `handle`.
- console.log("Projected point on collider ", proj.colliderHandle, ". Point projection: ", proj.point);
- console.log("Point was inside of the collider shape: {}", proj.isInside);
-}
-
-world.intersectionsWithPoint(point, (handle) => {
- // Callback called on each collider with a shape containing the point.
- console.log("The collider", handle, "contains the point.");
- // Return `false` instead if we want to stop searching for other colliders containing this point.
- return true;
-});
+
```
```js
-let point = { x: 1.0, y: 2.0, z: 3.0 };
-let solid = true;
-let groups = 0xffffffff;
-
-let proj = world.projectPoint(point, solid);
-if (proj != null) {
- // The collider closest to the point has this `handle`.
- console.log("Projected point on collider ", proj.colliderHandle, ". Point projection: ", proj.point);
- console.log("Point was inside of the collider shape: {}", proj.isInside);
-}
-
-world.intersectionsWithPoint(point, (handle) => {
- // Callback called on each collider with a shape containing the point.
- console.log("The collider", handle, "contains the point.");
- // Return `false` instead if we want to stop searching for other colliders containing this point.
- return true;
-});
+
```
diff --git a/docs/user_guides/templates/scene_queries_ray_casting.mdx b/docs/user_guides/templates/scene_queries_ray_casting.mdx
index b6bba65..c984044 100644
--- a/docs/user_guides/templates/scene_queries_ray_casting.mdx
+++ b/docs/user_guides/templates/scene_queries_ray_casting.mdx
@@ -82,64 +82,14 @@ get, the more computationally expensive the ray-cast will be.
```js
-let ray = new RAPIER.Ray({ x: 1.0, y: 2.0 }, { x: 0.0, y: 1.0 });
-let maxToi = 4.0;
-let solid = true;
-
-let hit = world.castRay(ray, maxToi, solid);
-if (hit != null) {
- // The first collider hit has the handle `hit.colliderHandle` and it hit after
- // the ray travelled a distance equal to `ray.dir * toi`.
- let hitPoint = ray.pointAt(hit.toi); // Same as: `ray.origin + ray.dir * toi`
- console.log("Collider", hit.colliderHandle, "hit at point", hitPoint);
-}
-
-let hitWithNormal = world.castRayAndGetNormal(ray, maxToi, solid);
-if (hitWithNormal != null) {
- // This is similar to `QueryPipeline::cast_ray` illustrated above except
- // that it also returns the normal of the collider shape at the hit point.
- let hitPoint = ray.pointAt(hitWithNormal.toi);
- console.log("Collider", hitWithNormal.colliderHandle, "hit at point", hitPoint, "with normal", hitWithNormal.normal);
-}
-
-world.intersectionsWithRay(ray, maxToi, solid, (hit) => {
- // Callback called on each collider hit by the ray.
- let hitPoint = ray.pointAt(hit.toi);
- console.log("Collider", hit.colliderHandle, "hit at point", hitPoint, "with normal", hit.normal);
- return true; // Return `false` instead if we want to stop searching for other hits.
-});
+
```
```js
-let ray = new RAPIER.Ray({ x: 1.0, y: 2.0, z: 3.0 }, { x: 0.0, y: 1.0, z: 0.0 });
-let maxToi = 4.0;
-let solid = true;
-
-let hit = world.castRay(ray, maxToi, solid);
-if (hit != null) {
- // The first collider hit has the handle `hit.colliderHandle` and it hit after
- // the ray travelled a distance equal to `ray.dir * toi`.
- let hitPoint = ray.pointAt(hit.toi); // Same as: `ray.origin + ray.dir * toi`
- console.log("Collider", hit.colliderHandle, "hit at point", hitPoint);
-}
-
-let hitWithNormal = world.castRayAndGetNormal(ray, maxToi, solid);
-if (hitWithNormal != null) {
- // This is similar to `QueryPipeline::cast_ray` illustrated above except
- // that it also returns the normal of the collider shape at the hit point.
- let hitPoint = ray.pointAt(hitWithNormal.toi);
- console.log("Collider", hitWithNormal.colliderHandle, "hit at point", hitPoint, "with normal", hitWithNormal.normal);
-}
-
-world.intersectionsWithRay(ray, maxToi, solid, (hit) => {
- // Callback called on each collider hit by the ray.
- let hitPoint = ray.pointAt(hit.toi);
- console.log("Collider", hit.colliderHandle, "hit at point", hitPoint, "with normal", hit.normal);
- return true; // Return `false` instead if we want to stop searching for other hits.
-});
+
```
diff --git a/docs/user_guides/templates/scene_queries_shape_casting.mdx b/docs/user_guides/templates/scene_queries_shape_casting.mdx
index b0f49f7..50ffc71 100644
--- a/docs/user_guides/templates/scene_queries_shape_casting.mdx
+++ b/docs/user_guides/templates/scene_queries_shape_casting.mdx
@@ -81,36 +81,14 @@ values={[
```js
-let shape = new RAPIER.Cuboid(1.0, 2.0);
-let shapePos = { x: 0.0, y: 1.0 };
-let shapeRot = 0.2;
-let shapeVel = { x: 0.1, y: 0.4 };
-let maxToi = 4.0;
-
-let hit = world.castShape(shapePos, shapeRot, shapeVel, shape, maxToi);
-if (hit != null) {
- // The first collider hit has the handle `handle`. The `hit` is a
- // structure containing details about the hit configuration.
- console.log("Hit the collider", hit.colliderHandle, "at time", hit.toi);
-}
+
```
```js
-let shape = new RAPIER.Cuboid(1.0, 2.0, 3.0);
-let shapePos = { x: 0.0, y: 1.0, z: 0.0 };
-let shapeRot = { w: 1.0, x: 0.0, y: 0.0, z: 0.0 };
-let shapeVel = { x: 0.2, y: 0.4, z: 0.8 };
-let maxToi = 4.0;
-
-let hit = world.castShape(shapePos, shapeRot, shapeVel, shape, maxToi);
-if (hit != null) {
- // The first collider hit has the handle `handle`. The `hit` is a
- // structure containing details about the hit configuration.
- console.log("Hit the collider", hit.colliderHandle, "at time", hit.toi);
-}
+
```
diff --git a/package.json b/package.json
index d0f1ce3..0f79ea2 100644
--- a/package.json
+++ b/package.json
@@ -12,7 +12,7 @@
"serve": "docusaurus serve"
},
"engines": {
- "node": "^16.17",
+ "node": "^18",
"npm": "6.14.13"
},
"dependencies": {