npm / @dimforge/rapier3d-compat
@dimforge/rapier3d-compat
What changed in @dimforge/rapier3d-compat 0.20 to 0.21, from its official release notes, upgrade guides and advisories. Sources checked 2026-11-02.
15 breaking15 new APIs and options1 behavior and defaults2 fixes and other
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npx @unstale/cli init@dimforge/rapier3d-compat 0.213 changes
Breaking changes 1
The collisions parameter is now an iterator over references.
Fixes and other changes 2
Fixes a crash in the SAP broad-phase when an object is teleported.
Body translation and rotation no longer become NaN after a simulation step with zero delta time.
@dimforge/rapier3d-compat 0.2030 changes
Breaking changes 14
Now takes multiple CharacterCollision values as a parameter.
Replaces the contact-constraint ERP parameter with natural frequency, making regularization timestep-length independent.
Replaces normalized_max_penetration_correction with a timestep-length-independent parameter set to a finite value to reduce aggressive popping effects.
Renames the linear X axis mask from X to LIN_X to distinguish it from angular axes.
Renames the linear Y axis mask from Y to LIN_Y to distinguish it from angular axes.
Renames the linear Z axis mask from Z to LIN_Z to distinguish it from angular axes.
Renames JointAxis::X to LinX to distinguish the linear axis from angular axes.
Renames JointAxis::Y to LinY to distinguish the linear axis from angular axes.
Renames JointAxis::Z to LinZ to distinguish the linear axis from angular axes.
No longer automatically updates poses of associated RigidBody objects; call Multibody::update_rigid_bodies explicitly.
No longer requires RigidBodySet as a parameter.
Renames update_with_mode and now accepts an impl QbvhDataGenerator<ColliderHandle> parameter.
Removed QueryPipelineMode.
Removed as a public collider-attachment API; attach colliders through ColliderSet::insert_with_parent or ColliderSet::set_parent.
New APIs and options 15
Builds a collider with a shape computed from a mesh’s index and vertex buffers.
Implements Debug for ColliderBuilder.
Implements Default, equivalent to ColliderBuilder::ball(0.5).
Names the contact damping-ratio parameter in the revised regularization parameters.
Adds options to customize behaviors of the inverse-kinematics solver.
Builds a collider shape from mesh index and vertex buffers, with supported output shapes including TriMesh, Cuboid, convex hull, and convex decomposition.
Gets the Jacobian of a specific link.
Computes the pose and Jacobian of a single link without mutating the multibody, optionally accounting for generalized-coordinate displacement.
Runs inverse kinematics on a multibody to align one of its links to a prescribed pose.
Adds an inverse-kinematics operation for aligning a multibody link to a prescribed pose.
Updates rigid-bodies based on multibody link poses; call it explicitly after forward kinematics to update associated rigid-body poses.
New crate for loading an STL file as a collision shape.
New crate for loading URDF files into rapier3d, including rigid-bodies, colliders, and joints.
Computes the joint’s angle from the rotation of its attached rigid-bodies.
Implements Default, equivalent to RigidBodyBuilder::dynamic().
Behavior and default changes 1
Adjusts multibody degrees of freedom when the root rigid-body changes between dynamic and non-dynamic; can optionally apply the root rigid-body pose.